CN111327009B - Intelligent gyroscopic de-icing robot based on multi-rotor aircraft and its de-icing method - Google Patents

Abstract

The invention discloses an intelligent gyroscopic deicing robot based on a multi-rotor aircraft, comprising a multi-rotor aircraft and a deicing manipulator. The deicing manipulator is located directly under the multi-rotor aircraft and is connected by a fixing rod. The multi-rotor aircraft includes a frame , brushless motor, motor governor, control circuit and GPS module, the de-icing manipulator includes base plate, fixed pulley, solenoid, rotary rod, permanent magnet, left limit bolt, right limit bolt, laser and image sensor; A deicing method comprises the following steps: initializing; judging whether an image sensor finds a target; judging whether the target is located in the center of sight of the image sensor; and performing rotary deicing on the target until the deicing ends. Under the condition that the position of the invention remains unchanged, the laser can be diffracted back and forth to every corner of the cable, and the cable can be completely deiced. The structure is unique and simple, and the efficiency is high.

Description

Intelligent gyroscopic de-icing robot based on multi-rotor aircraft and its de-icing method

technical field

The invention belongs to the field of cable deicing, and particularly relates to an intelligent gyroscopic deicing robot based on a multi-rotor aircraft and a deicing method thereof.

Background technique

At present, due to the long-term exposure of the cables outdoors, the cables are easy to freeze in rainy and snowy weather, and the long-term freezing can easily cause the cables to be damaged. damage situation. In order to avoid the above consequences, we need to de-icing the cable. De-icing by humans is not practical because the cables hang high in the air.

The invention patent with the application publication number CN104810775A discloses an automatic quadrotor laser deicing device for inductive power extraction of high-voltage transmission lines, including a fuselage, and the front and rear ends of the fuselage are symmetrically installed with first, second, and third , the fourth rotor, the rotors are respectively connected with a brushless DC motor, and the brushless DC motors are respectively connected with a motor governor; the motor governors are all connected with the flight controller; the driving power supply is powered by the PT through the high-voltage line. Take electricity; the semiconductor laser is located below the fuselage, and is connected to the fuselage through a controllable gimbal, the controllable gimbal is connected to the flight controller, the semiconductor laser switch is connected to the flight controller; the angular velocity sensor is connected to the angle The sensors are respectively connected with the flight controller. The invention has simple structure, stable flight, can realize automatic deicing and manual control deicing of high-voltage transmission lines, and has low cost. Location, more inconvenient.

SUMMARY OF THE INVENTION

Purpose of the invention: In view of the problems existing in the prior art, the present invention discloses an intelligent gyroscopic deicing robot based on a multi-rotor aircraft and a deicing method thereof. Under the condition that the position of the deicing robot remains unchanged, the laser can be circled back and forth. Shooting on the cable, the laser can be irradiated to every corner of the cable as much as possible, which can completely remove the ice on the cable, and de-icing is more thorough.

Technical scheme: The present invention adopts the following technical scheme: an intelligent gyroscopic deicing robot based on a multi-rotor aircraft, characterized in that it includes a multi-rotor aircraft and a deicing manipulator, and the deicing manipulator is located directly under the multi-rotor aircraft and passes through the multi-rotor aircraft. fixed rod connection;

The deicing manipulator includes a vertical bottom plate arranged below the fixing rod, a solenoid is arranged on one side of the bottom plate, a first image sensor and a second image sensor are arranged on the other side of the bottom plate, and the solenoid is connected with an alternating current , a number of fixed pulleys are arranged at both ends of the solenoid, an arc-shaped gyratory rod is set in the solenoid, and the gyratory rod can perform a gyratory motion under the positioning of the fixed pulley, a permanent magnet is embedded in the gyratory rod, and left A limit bolt and a right limit bolt, one side of the left limit bolt is provided with a first laser, and one side of the right limit bolt is provided with a second laser.

Preferably, the laser light emitted by the first laser and the second laser both passes through the center of the circular arc where the central axis of the gyroscopic rod is located.

Preferably, the included angle range of the laser light emitted by the first laser and the second laser is (150°, 210°).

Preferably, the sight lines of the first image sensor and the second image sensor intersect at the target center point.

Preferably, a line connecting the line of sight of the first image sensor and the second image sensor and the center of the circular arc is perpendicular to the plane where the circular arc is located.

Preferably, the multi-rotor aircraft includes a frame on which a control module, a GPS module and a rotor are arranged, the rotors are respectively connected with a brushless motor, and the brushless motors are respectively connected with a motor governor.

Preferably, the deicing robot is used for deicing cables, and the sight lines of the first image sensor and the second image sensor intersect at the center point of the cables.

A method for deicing an intelligent gyroscopic deicing robot based on a multi-rotor aircraft, characterized in that it comprises the following steps:

Step A. The deicing robot is initialized, and the multi-rotor aircraft takes off;

Step B, determine whether the image sensor finds the target, if the target is not found, adjust the position of the multi-rotor aircraft, and perform step B again, if the target is found, go to step C;

Step C, determine whether the target is located in the center of the image sensor line of sight, if not located in the center, adjust the position of the multi-rotor, re-execute step C, if located in the center, go to step D;

Step D, turn on the laser, the solenoid is energized, the gyratory rod makes a gyratory motion to de-icing the target, and saves the current GPS data;

Step E. During the forward process of the multi-rotor aircraft, step C and step D are repeated until the deicing ends;

Step F. Turn off the laser, power off the solenoid, return the gyro rod, and return the multi-rotor to land.

Beneficial effects: the present invention realizes multi-angle and multi-directional deicing of the cable through the deicing manipulator combined with the multi-rotor aircraft, and uses two image sensors to locate the cable. The ice manipulator diffracts the laser back and forth onto the cable, and irradiates the laser to every corner of the cable to the greatest extent possible, which can completely remove the ice on the cable, and the ice removal is relatively complete, and the multi-rotor aircraft only needs to complete one cycle The cable can be completely de-iced, the structure is unique and simple, and the efficiency is high.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the front structure schematic diagram of the present invention;

3 is a schematic diagram of the structure of the back of the present invention;

Fig. 4 is the schematic diagram of the deicing back of the present invention;

Fig. 5 is the deicing side schematic diagram of the present invention;

Fig. 6 is the split schematic diagram 1 of the present invention;

Fig. 7 is the split schematic diagram 2 of the present invention;

FIG. 8 is a schematic diagram 1 of deicing cyclone of the present invention;

Fig. 9 is the schematic diagram 2 of deicing cyclone of the present invention;

Fig. 10 is the schematic diagram 3 of deicing cyclone of the present invention;

11 is a block diagram of the control circuit structure of the present invention;

Fig. 12 is the program flow chart of the present invention;

Among them, the multi-rotor aircraft 1, the deicing manipulator 2, the cable 3, the frame 4, the brushless motor 5, the motor governor 6, the control module 7, the GPS module 8, the fixed rod 9, the base plate 10, the fixed pulley 11, Solenoid 12, rotary rod 13, permanent magnet 14, left limit pin 15, right limit pin 16, first laser 17, second laser 18, first image sensor 19, second image sensor 20, arc line twenty one.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The present invention discloses an intelligent gyroscopic deicing robot based on a multi-rotor aircraft, which can be used for deicing cables. As shown in FIG. 1 , it includes a multi-rotor aircraft 1 and a deicing manipulator 2. The deicing manipulator 2 is located in a multi-rotor aircraft. The rotorcraft 1 is directly below and connected by a fixed rod 9 .

As shown in FIG. 2 , the multi-rotor aircraft 1 includes a frame 4 on which a control module 7, a GPS module 8 and rotors are arranged, each rotor is respectively connected to a brushless motor 5, and each brushless motor 5 is respectively A motor governor 6 is connected.

The deicing robot 2 includes a base plate 10 , a fixed pulley 11 , a solenoid 12 , a rotary rod 13 , a permanent magnet 14 , a left limit pin 15 , a right limit pin 16 , a first laser 17 , a second laser 18 , a first image sensor 19 and second image sensor 20 .

Wherein, a vertical bottom plate 10 is arranged below the fixed rod 9, a solenoid 12 is arranged on one side of the bottom plate 10, the solenoid 12 is hollow, and several fixed pulleys 11 are arranged at both ends of the solenoid 12; The center line is the arc line 21, and the center of the arc line 21 is O. As shown in Fig. 7 and Fig. 10, the permanent magnet 14 is embedded in a certain section in the middle of the swing rod 13 to form a complete and smooth swing rod 13, and the swing The rod 13 can just be inserted into the solenoid 12, and under the positioning of the fixed pulley 11, the rotary rod 13 can freely perform rotary motion.

The two ends of the swing rod 13 are also provided with a left limit bolt 15 and a right limit bolt 16, which are used to limit the position of the swing rod 13 when it performs a swinging motion, so as to avoid over-revolution. A first laser 17 is provided on one side of the left limit pin 15 , and a second laser 18 is provided on one side of the right limit pin 16 . The center O of the arc line 21 and the included angle formed by the laser light is θ, and its range is 150°<θ<210°. In this embodiment, θ takes 180°, that is, the first laser 17 and the second laser 18 In the opposite shooting state, when the gyratory rod 13 performs gyratory motion, the lasers emitted by the first laser 17 and the second laser 18 are always irradiated on the semicircular center O of the gyratory rod 13, as shown in Figures 7-10.

The solenoid 12 is used to generate a magnetic field, and the driving current applied to it is an alternating current, which enables the solenoid 12 to generate a magnetic field whose magnitude and direction change periodically. The magnetic field interacts with the magnetic field of the permanent magnet 14. Due to the repulsion of the same poles and the attraction of opposite poles, the magnetic field generated by the solenoid 12 changes back and forth, so the force on the gyratory rod 13 changes back and forth, and finally makes the gyratory rod 13 revolve around the center of the circle O Do periodic roundabout motions. This swirling motion will make the laser light spots emitted by the first laser 17 and the second laser 18 move on the cable 3 to realize multi-directional and multi-angle deicing.

As shown in FIGS. 3 to 5 , the present invention is further provided with a first image sensor 19 and a second image sensor 20 on the back of the base plate 10 , the viewing angle direction of the first image sensor 19 is vertically downward, and the viewing angle of the second image sensor 20 The direction is horizontally to the left, pointing to the cable line 3 respectively, and the viewing angle directions of the first image sensor 19 and the second image sensor 20 intersect at the O' point, which is also the center point of the cable line 3, and the O' point The line connecting with point O is perpendicular to the plane where the arc line 21 is located, and the cable line 3 is on the connecting line between point O' and point O, as shown in FIG. 5 .

If the cable 3 is imaged at the center of the first image sensor 19 and the second image sensor 20 respectively, it means that the cable 3 is just at the center O of the gyratory rod 13 at this time, and the first laser 17 and the second laser 18 The laser spot is just pointing to the cable 3, at this time, the first laser 17 and the second laser 18 can be turned on to start deicing; if the cable 3 is not imaged in the center of the first image sensor 19 and the second image sensor 20 position, it means that the cable 3 is not at point O, and the position of the multi-rotor should be adjusted at this time: when the cable 3 is not imaged in the center of the first image sensor 19, the horizontal position of the multi-rotor should be adjusted so that the The cable 3 is in the center of the first image sensor 19; when the cable 3 is not imaged in the center of the second image sensor 20, the vertical position of the multi-rotor should be adjusted so that the cable 3 is in the center of the second image sensor 20. central. The cable 3 is imaged at the center O' point of the first image sensor 19 and the second image sensor 20 respectively, which means that the cable 3 is at point O. At this time, the deicing conditions are met, and the first laser 17 and the second laser 18 can be turned on. Perform deicing. During the deicing process, the multi-rotor aircraft will adjust the position of the multi-rotor aircraft in real time according to the imaging conditions of the first image sensor 19 and the second image sensor 20 to ensure that the cable 3 is at the zero point position in real time.

As shown in Figure 11 and Figure 12, the deicing method of the present invention is as follows:

After the system is powered on, it will be initialized first, and then the multi-rotor will look for the cable 3 through the first image sensor 19 and the second image sensor 20. After finding the cable 3, it will pass the first image sensor 19 and the second image sensor. 20 to determine the current position of the cable 3. When the cables 3 are both imaged at the center of the first image sensor 19 and the second image sensor 20 , it means that the cables 3 are currently at the O' and O point positions, that is, the cables 3 are at the center. At this time, the first laser 17 and the second laser 18 will be turned on, the solenoid 12 will be energized, the gyro rod 13 will begin to swing, the multi-rotor aircraft will move forward, and the laser deicing will begin.

During the laser deicing process, on the one hand, the multi-rotor aircraft saves the current GPS data in the storage module in real time, and on the other hand, the multi-rotor aircraft adjusts its position in real time, so that the cable 3 is in the position of the first image sensor 19 and the second image sensor. 20 until the end of deicing, at which time the first laser 17 and the second laser 18 are turned off, the gyro rod 13 is reset, the solenoid 12 is powered off, and the multi-rotor aircraft will return and land.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (8)

1. An intelligent gyroscopic deicing robot based on a multi-rotor aircraft, characterized in that it comprises a multi-rotor aircraft (1) and a deicing manipulator (2), wherein the deicing manipulator (2) is located in the multi-rotor aircraft (1) directly below and connected by the fixing rod (9); The deicing manipulator (2) comprises a vertical bottom plate (10) arranged below the fixing rod (9), a solenoid (12) is provided on one side of the bottom plate (10), and a first plate (10) is provided on the other side of the bottom plate (10). An image sensor (19) and a second image sensor (20), the solenoid (12) is connected with alternating current, a plurality of fixed pulleys (11) are arranged at both ends of the solenoid (12), and the solenoid (12) A circular arc-shaped swing rod (13) is arranged inside, and the swing rod (13) can perform a swing motion under the positioning of the fixed pulley (11). The swing rod (13) is embedded with a permanent magnet (14), and the swing rod (13) ) are provided with a left limit bolt (15) and a right limit bolt (16) at both ends, a first laser (17) is arranged on one side of the left limit bolt (15), and a first laser (17) is arranged on one side of the right limit bolt (16) A second laser (18) is set up. 2 . The intelligent gyroscopic deicing robot based on a multi-rotor aircraft according to claim 1 , wherein the laser light emitted by the first laser ( 17 ) and the second laser ( 18 ) passes through the gyro rod. 3 . (13) The center of the arc line (21) where the central axis is located. 3. The intelligent gyroscopic deicing robot based on a multi-rotor aircraft according to claim 2, characterized in that the included angle range of the laser light emitted by the first laser (17) and the second laser (18) is (150°, 210°). 4. An intelligent gyroscopic deicing robot based on a multi-rotor aircraft according to claim 2, characterized in that the line of sight directions of the first image sensor (19) and the second image sensor (20) intersect at the target center point. 5. The intelligent gyroscopic deicing robot based on a multi-rotor aircraft according to claim 4, characterized in that the point of sight of the first image sensor (19) and the second image sensor (20) intersects with the The line connecting the centers of the circular arc lines (21) is perpendicular to the plane where the circular arc lines (21) are located. 6. An intelligent gyroscopic deicing robot based on a multi-rotor aircraft according to claim 1, wherein the multi-rotor aircraft (1) comprises a frame (4) on which the frame (4) is mounted. A control module (7), a GPS module (8) and a rotor are provided, the rotors are respectively connected to a brushless motor (5), and the brushless motors (5) are respectively connected to a motor governor (6). 7. The intelligent gyroscopic deicing robot based on a multi-rotor aircraft according to any one of claims 1 to 6, wherein the deicing robot is used for deicing cables, and the first image sensor ( 19) and the line of sight of the second image sensor (20) intersect at the center point of the cable line (3). 8. the deicing method of a kind of intelligent gyroscopic deicing robot based on multi-rotor aircraft according to any one of claims 1 to 6, is characterized in that, comprises the steps: Step A. The deicing robot is initialized, and the multi-rotor aircraft takes off; Step B, determine whether the first image sensor and the second image sensor both find the target, if the target is not found, adjust the position of the multi-rotor aircraft, re-execute step B, if the target is found, go to step C; Step C, determine whether the target is located in the center of sight of the first image sensor and the second image sensor, if not located in the center, adjust the position of the multi-rotor aircraft, re-execute step C, if located in the center, go to step D; Step D, turn on the first laser and the second laser, the solenoid is energized, and the gyro rod makes a gyroscopic motion to de-icing the target, and saves the current GPS data; Step E. During the forward process of the multi-rotor aircraft, step C and step D are repeated until the deicing ends; Step F: Turn off the first laser and the second laser, power off the solenoid, return the gyro rod, and return the multi-rotor to land.

Images