CN111071442B - Line safety inspection device and using method thereof - Google Patents
Line safety inspection device and using method thereof Download PDFInfo
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- CN111071442B CN111071442B CN202010013230.7A CN202010013230A CN111071442B CN 111071442 B CN111071442 B CN 111071442B CN 202010013230 A CN202010013230 A CN 202010013230A CN 111071442 B CN111071442 B CN 111071442B
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- magnet suction
- wheel set
- wheel motor
- motor wheel
- tumbler
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a line safety inspection device and a using method thereof, belonging to the technical field of power protection. The technical scheme is as follows: contain remote controller part and main part, remote controller part and main part pass through wireless transmission signal accordant connection, and the main part contains unmanned aerial vehicle fuselage, tumbler formula concave wheel railcar, screw (6), screw motor (7) and infrared range finding probe group (8). The invention can not only ascend to the wire and accurately land on the wire, but also conveniently go forward on the wire to patrol the line, measure the distance of trees outside a 10kV line protection area and off-line trees in normal weather, timely find out the trees endangering the line safety, provide data for tree owners to send hidden danger notification books, coordinate the trees to trim and cut, patrol the line section when a special weather fault breaks down, reduce the probability of personnel crossing crops and gullies, reduce the hidden danger of personnel safety accidents, effectively search faults and reduce the power failure time.
Description
Technical Field
The invention relates to a line safety inspection device and a using method thereof, belonging to the technical field of power protection.
Background
At present, 10kV line faults are multiple faults which cause large-area power failure. The well-known line patrol comprises personnel patrol and unmanned aerial vehicle patrol, and the patrol is divided into normal patrol, special patrol and night patrol. The defects of poor eyesight, special sections and special weather influence during the patrol of personnel cannot be found. Unmanned aerial vehicle tours can only patrol under normal weather, can't patrol after special weather trouble. And the personnel can only visit by blowing wind and raining, so that the working risk is increased, and the power failure time is prolonged.
Disclosure of Invention
The invention aims to provide a line safety inspection device and a using method thereof.A small unmanned aerial vehicle carries a tumbler type concave wheel railcar, an infrared camera and an infrared distance measuring probe, so that the line safety inspection device can not only be lifted off and accurately landed on a lead, but also can conveniently advance on the lead to inspect the line, and can measure the distance between trees outside a 10kV line protection area and trees under the line in normal weather, so that the trees endangering the line safety can be found in time, a data issuing hidden danger notice book is provided for tree owners, the tree owners can be coordinated to trim and fell the line, and when a special weather fault is dropped, the line section inspection is carried out, so that the probability of the personnel crossing crops and gullies is reduced, the hidden danger of the safety accidents of the personnel is reduced, the fault is effectively searched, the power failure time is reduced, and the problems in the background technology are effectively solved.
The technical scheme of the invention is as follows: a line safety inspection device comprises a remote controller part and a main body part, wherein the remote controller part is connected with the main body part in a matching way through wireless transmission signals; the main body part comprises an unmanned aerial vehicle body, a tumbler type concave wheel railcar, two propellers, two propeller motors and an infrared ranging probe group, wherein the propeller motors are arranged at the lower parts of the propellers to form a flight device and are respectively arranged at the upper ends of two sides of the unmanned aerial vehicle body; two groups of infrared ranging probes are arranged at the left end and the right end of the unmanned aerial vehicle body respectively; the tumbler type concave wheel railcar is arranged in the middle of the unmanned aerial vehicle body and comprises a tumbler type battery and driving system main unit and a lower tumbler type magnet suction wheel motor wheel set, the short-arm magnet suction wheel motor wheel set and the lower tumbler magnet suction wheel motor wheel set are respectively arranged at the upper end and the lower end of the tumbler concave wheel railcar, the infrared camera, the tumbler battery and driving system total unit are arranged in the middle of the tumbler concave wheel railcar, the short-arm magnet suction wheel motor wheel set is arranged at the front end of the tumbler concave wheel railcar, the short-arm magnet suction wheel motor wheel set and the upper tumbler magnet suction wheel motor wheel set are fixedly connected into an integrated structure, and the integrated structure is hinged with the lower tumbler magnet suction wheel motor wheel set through a fixing shaft; the short arm magnet suction wheel motor wheel set is connected with the lower tumbler type magnet suction wheel motor wheel set through a soft spring, and the included angle between the short arm magnet suction wheel motor wheel set and the lower tumbler type magnet suction wheel motor wheel set is 45 degrees.
Every a set of infrared distance measurement probe group contains three infrared distance measurement probe, and wherein two infrared distance measurement probe are at the tip parallel arrangement of unmanned aerial vehicle fuselage, and another infrared distance measurement probe is 38 degrees angle settings with the unmanned aerial vehicle fuselage.
Still contain battery interface and the inside connecting wire that charges, set up on tumbler formula concave wheel railcar.
A use method of a line safety patrol device comprises the following steps: firstly, rotating and lifting the propeller by using a remote controller; secondly, a motor wheel set of the lower tumbler type magnet suction wheel and a motor wheel set of the short arm magnet suction wheel are accurately landed on the middle phase conducting wire through an image fed back by the infrared camera; controlling the lower tumbler type magnet suction wheel motor wheel set and the short arm magnet suction wheel motor wheel set to move forwards in a lead by using a remote controller, when the lower tumbler type magnet suction wheel motor wheel set and the short arm magnet suction wheel motor wheel set pass through a fixed lead insulator, because the short arm magnet suction wheel motor wheel set and the upper tumbler type magnet suction wheel motor wheel set are fixedly connected into an integrated structure which is hinged with the lower tumbler type magnet suction wheel motor wheel set through a fixed shaft, the short arm magnet suction wheel motor wheel set stops moving forwards under resistance and leads to backward pressing of a time delay pressure soft spring, the upper tumbler type magnet suction wheel motor wheel set falls onto the lead in front of the fixed lead insulator, the lower tumbler type magnet suction wheel motor wheel set and the upper tumbler type magnet suction wheel motor wheel set drag the short arm magnet suction wheel motor wheel set to smoothly pass through the pulling action, and the upper tumbler type magnet suction wheel motor wheel set resets under the elastic slow action of the time delay soft spring, the motor wheel set of the lower tumbler type magnet suction wheel is dragged to pass by the motor wheel set of the short arm magnet suction wheel and the motor wheel set of the upper tumbler type magnet suction wheel, and the motor wheel set of the lower tumbler type magnet suction wheel and the motor wheel set of the short arm magnet suction wheel move on the lead after the soft spring is restored; and fourthly, observing the safety state of the line through an infrared camera, and measuring the safety distance between the line and the off-line tree through an infrared distance measurement probe group.
The invention has the beneficial effects that: carry on tumbler formula concave wheel railcar through unmanned aerial vehicle, infrared camera, infrared ranging probe group, can not only go up to the air and accurately descend to the wire, and can be convenient go forward on the wire, patrol the circuit, carry out distance measurement to trees outside 10kV circuit protection area and off-line tree when normal weather, in time discover the trees that endanger the line safety, provide data for the tree owner and issue hidden danger notice book, coordinate it to prune and fell, when special weather trouble breaks down, carry out the circuit section and patrol, reduce the probability that personnel passed through crops and gully, reduce personnel's potential safety hazard, find the trouble effectively, reduce the power off time.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the remote controller according to the present invention;
in the figure: the system comprises a tumbler type battery and driving system main unit 1, a lower tumbler type magnet suction wheel motor wheel set 2, a short arm magnet suction wheel motor wheel set 3, an upper tumbler type magnet suction wheel motor wheel set 4, an infrared camera 5, a propeller 6, a propeller motor 7, an infrared distance measurement probe set 8, a remote controller 9, a receiving display screen 10, a remote control handle 11, an antenna 12, an included angle of 38 degrees 13, a fixed shaft 14 and a soft spring 15.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and examples.
A line safety patrol device comprises a remote controller part and a main body part, wherein the remote controller part is connected with the main body part in a matching way through wireless transmission signals, the remote controller part comprises a remote controller 9, a receiving display screen 10, a remote control handle 11 and an antenna 12, the receiving display screen 10 and the remote control handle 11 are arranged on the main body of the remote controller 9, and the antenna 12 is arranged at the upper end of the remote controller 9; the main body part comprises an unmanned aerial vehicle body, a tumbler type concave wheel railcar, two propellers 6, two propeller motors 7 and an infrared ranging probe group 8, wherein the propeller motors 7 are arranged at the lower parts of the propellers 6 to form a flight device and are respectively arranged at the upper ends of two sides of the unmanned aerial vehicle body; two infrared distance measurement probe groups 8 are respectively arranged at the left end and the right end of the unmanned aerial vehicle body; the tumbler type concave wheel railcar is arranged in the middle of the unmanned aerial vehicle body and comprises a tumbler type battery and driving system main unit 1 and a lower tumbler type magnet suction wheel motor wheel group 2, the short-arm magnet suction wheel motor wheel set 3 is fixedly connected with the upper tumbler magnet suction wheel motor wheel set 4 into an integrated structure, and the integrated structure is hinged with the lower tumbler magnet suction wheel motor wheel set 2 through a fixed shaft 14; the short arm magnet suction wheel motor wheel set 3 is connected with the lower tumbler type magnet suction wheel motor wheel set 2 through a soft spring 15, and the included angle between the short arm magnet suction wheel motor wheel set 3 and the lower tumbler type magnet suction wheel motor wheel set 2 is 45 degrees.
Each 8 groups of infrared range finding probe group contain three infrared range finding probes, and wherein two infrared range finding probes are at the tip parallel arrangement of unmanned aerial vehicle fuselage, and another infrared range finding probe is 38 degrees angle settings with the unmanned aerial vehicle fuselage.
Still contain battery interface and the inside connecting wire that charges, set up on tumbler formula concave wheel railcar.
A use method of a line safety patrol device comprises the following steps: firstly, rotating and lifting the propeller by using a remote controller; secondly, feeding back an image through an infrared camera, and accurately landing a lower tumbler type magnet suction wheel motor wheel set and a short arm magnet suction wheel motor wheel set on a middle phase lead; controlling the lower tumbler type magnet suction wheel motor wheel set and the short arm magnet suction wheel motor wheel set to move forwards in the lead by using a remote controller, when the lower tumbler type magnet suction wheel motor wheel set and the short arm magnet suction wheel motor wheel set pass through a fixed lead insulator, because the short arm magnet suction wheel motor wheel set and the upper tumbler type magnet suction wheel motor wheel set are fixedly connected into an integrated structure which is hinged with the lower tumbler type magnet suction wheel motor wheel set 2 through a fixed shaft, the short arm magnet suction wheel motor wheel set stops moving forwards due to resistance and leads to backward pressing of a time delay pressure soft spring, so that the upper tumbler type magnet suction wheel motor wheel set falls onto the lead in front of the fixed lead insulator, the lower tumbler type magnet suction wheel motor wheel set 2 and the upper tumbler type magnet suction wheel motor wheel set 4 drag the short arm magnet suction wheel motor wheel set 3 to smoothly pass through under the slow elastic restoring action of the time delay soft spring, the upper tumbler type magnet suction wheel motor wheel set is reset, the lower tumbler type magnet suction wheel motor wheel set 2 is pulled to pass through by the short arm magnet suction wheel motor wheel set 3 and the upper tumbler type magnet suction wheel motor wheel set 4, and the lower tumbler type magnet suction wheel motor wheel set 2 and the short arm magnet suction wheel motor wheel set 3 move on the conducting wire after the soft spring is restored; and fourthly, observing the safety state of the line through an infrared camera, and measuring the safety distance between the line and the tree under the line through an infrared distance measuring probe group.
Short arm magnetite suction wheel motor wheelset and last tumbler formula magnetite suction wheel motor wheelset fixed connection are a body structure that the contained angle is 45 degrees, then through the fixed axle hinge under on the frame of tumbler formula magnetite suction wheel motor wheelset, short arm magnetite suction wheel motor wheelset 3 and down through the soft spring coupling between the tumbler formula magnetite suction wheel motor wheelset 2.
The tumbler type battery and driving system general unit 1, the infrared camera 5, the propeller 6, the propeller motor 7, the infrared distance measuring probe group 8, the remote controller 9 and the like related to the present patent application are technical contents which are well known and commonly used in the field, and can be purchased or assembled on the market by a person of ordinary skill in the art according to requirements.
Claims (4)
1. The utility model provides a line safety inspection ware which characterized in that: the remote control device comprises a remote control part and a main body part, wherein the remote control part and the main body part are connected in a matched mode through wireless transmission signals, the remote control part comprises a remote control (9), a receiving display screen (10), a remote control handle (11) and an antenna (12), the receiving display screen (10) and the remote control handle (11) are arranged on the main body of the remote control (9), and the antenna (12) is arranged at the upper end of the remote control (9); the main body part comprises an unmanned aerial vehicle body, a tumbler type concave wheel railcar, two propellers (6), two propeller motors (7) and an infrared ranging probe group (8), wherein the propeller motors (6) and the propeller motors (7) are respectively arranged, and the propeller motors (7) are arranged at the lower parts of the propellers (6) to form a flight device and are respectively arranged at the upper ends of two sides of the unmanned aerial vehicle body; two infrared distance measurement probe groups (8) are arranged at the left end and the right end of the unmanned aerial vehicle body respectively; the tumbler-type concave wheel railcar is arranged in the middle of the unmanned aerial vehicle body and comprises a tumbler-type battery and driving system general unit (1), a lower tumbler-type magnet suction wheel motor wheel set (2), a short-arm magnet suction wheel motor wheel set (3), an upper tumbler-type magnet suction wheel motor wheel set (4) and an infrared camera (5), wherein the upper tumbler-type magnet suction wheel motor wheel set (4) and the lower tumbler-type magnet suction wheel motor wheel set (2) are respectively arranged at the upper end and the lower end of the tumbler-type concave wheel railcar, the infrared camera (5) and the tumbler-type battery and driving system general unit (1) are arranged in the middle of the tumbler-type concave wheel railcar, the short-arm magnet suction wheel motor wheel set (3) is arranged at the front end of the tumbler-type concave wheel railcar, the short-arm magnet suction wheel motor wheel set (3) and the upper tumbler-type magnet suction wheel motor wheel set (4) are fixedly connected into an integrated structure, the integrated structure is hinged with the lower tumbler type magnet suction wheel motor wheel set (2) through a fixed shaft (14); the short arm magnet suction wheel motor wheel set (3) is connected with the lower tumbler type magnet suction wheel motor wheel set (2) through a soft spring, and the included angle between the short arm magnet suction wheel motor wheel set (3) and the lower tumbler type magnet suction wheel motor wheel set (2) is 45 degrees.
2. A line safety patrol device according to claim 1, wherein: each group of infrared distance measurement probe group (8) contains three infrared distance measurement probe, and wherein two infrared distance measurement probe are at the tip parallel arrangement of unmanned aerial vehicle fuselage, and another infrared distance measurement probe is 38 degrees angle settings with the unmanned aerial vehicle fuselage.
3. The line safety patrol instrument according to claim 1, characterized in that: still contain battery interface and the inside connecting wire that charges, set up on tumbler formula concave wheel railcar.
4. A method of using a line safety patrol according to any one of claims 1-3, characterized by comprising the steps of: firstly, rotating and lifting the propeller by using a remote controller; secondly, feeding back an image through an infrared camera, and accurately landing a lower tumbler type magnet suction wheel motor wheel set and a short arm magnet suction wheel motor wheel set on a middle phase lead; controlling the lower tumbler type magnet suction wheel motor wheel set and the short arm magnet suction wheel motor wheel set to move forwards in a conducting wire by using a remote controller, when the lower tumbler type magnet suction wheel motor wheel set and the short arm magnet suction wheel motor wheel set pass through a fixed conducting wire insulator, because the short arm magnet suction wheel motor wheel set and the upper tumbler type magnet suction wheel motor wheel set are fixedly connected into an integrated structure which is hinged with the lower tumbler type magnet suction wheel motor wheel set (2) through a fixed shaft, the short arm magnet suction wheel motor wheel set stops moving forwards under resistance and leads to backward pressing of a time delay pressure soft spring, so that the upper tumbler type magnet suction wheel motor wheel set falls onto a conducting wire in front of the fixed conducting wire insulator, the lower tumbler type magnet suction wheel motor wheel set (2) and the upper tumbler type magnet suction wheel motor wheel set (4) drag the short arm magnet suction wheel motor wheel set (3) to smoothly pass through under the slow elastic restoring action of the time delay soft spring, the upper tumbler type magnet suction wheel motor wheel set is reset, the lower tumbler type magnet suction wheel motor wheel set (2) is dragged to pass through by the short arm magnet suction wheel motor wheel set (3) and the upper tumbler type magnet suction wheel motor wheel set (4), and the lower tumbler type magnet suction wheel motor wheel set (2) and the short arm magnet suction wheel motor wheel set (3) advance on the conducting wire after the soft spring is restored; and fourthly, observing the safety state of the line through an infrared camera, and measuring the safety distance between the line and the tree under the line through an infrared distance measuring probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010013230.7A CN111071442B (en) | 2020-01-07 | 2020-01-07 | Line safety inspection device and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010013230.7A CN111071442B (en) | 2020-01-07 | 2020-01-07 | Line safety inspection device and using method thereof |
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| Publication Number | Publication Date |
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| CN111071442A CN111071442A (en) | 2020-04-28 |
| CN111071442B true CN111071442B (en) | 2022-06-21 |
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| CN113433424B (en) * | 2021-08-06 | 2022-05-03 | 广东电网有限责任公司 | Distribution network line tree falling detection method and system based on partial discharge |
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| CN105204522B (en) * | 2015-11-16 | 2017-07-21 | 国网山东省电力公司莱芜供电公司 | A kind of power transmission line unmanned machine relay flight inspection method |
| MX2018007476A (en) * | 2016-01-13 | 2018-08-01 | Gen Cable Technologies Corp | System and method for applying coating on overhead power transmission conductors using an unmanned aerial vehicle. |
| WO2017156472A2 (en) * | 2016-03-11 | 2017-09-14 | Rooftop Group International Pte. Ltd. | Reverse propulsion aerial gaming systems, methods, and devices |
| CN105846348B (en) * | 2016-05-12 | 2018-05-29 | 济南舜风科技有限公司 | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method |
| CN106026781A (en) * | 2016-08-04 | 2016-10-12 | 湖北工业大学 | Dual-coil magnetic force driving device for high-voltage line inspection robot |
| CN106356757B (en) * | 2016-08-11 | 2018-03-20 | 河海大学常州校区 | A kind of power circuit unmanned plane method for inspecting based on human-eye visual characteristic |
| KR102706191B1 (en) * | 2016-11-30 | 2024-09-13 | 삼성전자주식회사 | Unmanned flying vehicle and flying control method thereof |
| WO2018165882A1 (en) * | 2017-03-15 | 2018-09-20 | SZ DJI Technology Co., Ltd. | Automatically and releasably coupling uav propellers to propulsion motors, and associated systems and methods |
| CN110944908B (en) * | 2017-11-21 | 2024-02-13 | 深圳市大疆创新科技有限公司 | System and method for detecting a propeller |
| JP7348664B2 (en) * | 2018-03-07 | 2023-09-21 | エレクトリカル グリッド モニタリング リミテッド | Systems and methods for loading and unloading devices on electrical cables using flying vehicles |
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