CN111361739A - Unmanned aerial vehicle and system are patrolled and examined to transmission line - Google Patents
Unmanned aerial vehicle and system are patrolled and examined to transmission line Download PDFInfo
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- CN111361739A CN111361739A CN202010235633.6A CN202010235633A CN111361739A CN 111361739 A CN111361739 A CN 111361739A CN 202010235633 A CN202010235633 A CN 202010235633A CN 111361739 A CN111361739 A CN 111361739A
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- aerial vehicle
- transmission line
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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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- 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
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- 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
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention provides an unmanned aerial vehicle for power transmission line inspection, which belongs to the technical field of power transmission line inspection and comprises an unmanned aerial vehicle body, a camera shooting mechanism, a walking mechanism, a driving mechanism and a fixing mechanism; the camera shooting mechanism is arranged at the top of the unmanned aerial vehicle body; the lower part of the walking mechanism is connected with the unmanned aerial vehicle body, and the upper part of the walking mechanism is used for matching with the power transmission line; the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to walk along the power transmission line; fixed establishment one end and unmanned aerial vehicle body coupling, the other end is used for being connected with the power transmission line iron tower. According to the power transmission line inspection unmanned aerial vehicle, in the inspection process, the rotor wing of the unmanned aerial vehicle body is in the closed state, the cruising ability of the unmanned aerial vehicle body is enhanced, and the frequency of charging or battery replacement is reduced; the unmanned aerial vehicle organism hangs in the power transmission line below through running gear, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear, fixes on the power transmission line iron tower through fixed establishment, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear.
Description
Technical Field
The invention belongs to the technical field of power transmission line inspection, and particularly relates to a power transmission line inspection unmanned aerial vehicle and a power transmission line inspection system.
Background
The overhead high-voltage transmission line is an important way for power transmission in the power industry, and is directly related to the economic growth of the whole country and the normal working life of people, and the safe and stable operation of the transmission line directly influences the supply of high-reliability and stable electric energy of a power system, so that the regular and effective inspection and maintenance of the transmission line become important tasks of the power industry. The mode of manual or vehicle carrying equipment for assisting in inspection is limited because most high-voltage transmission lines pass through complicated geographical environments such as rivers, lakes or original forests, and has the disadvantages of high labor intensity, low precision, blind areas and potential safety hazards.
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The unmanned aerial vehicle has the characteristics of small volume, light weight, low cost, flexible operation and high safety, and is widely applied to the fields of aerial photography, detection, search and rescue, resource exploration and the like. The unmanned aerial vehicle is adopted to patrol the power line, the technical feasibility is achieved, and the practical significance is achieved for promoting the unmanned aerial vehicle to patrol the power transmission line. Unmanned aerial vehicle electric power patrols the line and passes through the various equipment condition of very fast speed comprehensive inspection circuit and electric tower, and the precision instruments that carry on simultaneously can detect deep line fault and latent trouble, and data in time returns, and the problem real-time processing provides important guarantee for the safe and high-efficient operation of electric wire netting. At present, the unmanned aerial vehicle working process has the following problems:
(1) the unmanned aerial vehicle has insufficient cruising ability and needs to be charged or the battery needs to be replaced regularly and frequently;
(2) unmanned aerial vehicle flight stability is relatively poor, need be equipped with the cloud platform and just can keep shooting the image clear.
Disclosure of Invention
The invention aims to provide a power transmission line inspection unmanned aerial vehicle and a power transmission line inspection system, and aims to solve the problems of insufficient cruising ability and poor stability in the power inspection process of the unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a transmission line patrols and examines unmanned aerial vehicle includes:
an unmanned aerial vehicle body;
the camera shooting mechanism is arranged at the top of the unmanned aerial vehicle body;
the lower part of the walking mechanism is connected with the unmanned aerial vehicle body, and the upper part of the walking mechanism is matched with the power transmission line;
the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to walk along the power transmission line;
and one end of the fixing mechanism is connected with the unmanned aerial vehicle body, and the other end of the fixing mechanism is connected with a power transmission line iron tower.
As another embodiment of the present application, the traveling mechanism includes:
the bottom end of the suspension rod is connected with the top of the unmanned aerial vehicle body;
the roller is arranged at the top of the hanging rod and is axially and horizontally arranged, and a notch matched with the power transmission line is circumferentially arranged on the surface of the roller;
and the output shaft of the driving motor is connected with the roller.
As another embodiment of the present application, the boom includes a first telescoping rod.
As another embodiment of the application, both sides of the roller are provided with limiting structures for preventing the roller from slipping off the power transmission line.
As another embodiment of the present application, the driving mechanism includes:
a sailboard arranged vertically;
the first steering engine is arranged at the bottom of the unmanned aerial vehicle body, is connected with the top of the sailboard and is used for controlling the direction of the sailboard.
As another embodiment of the present application, the fixing mechanism includes:
one end of the fixed pipe is connected with the unmanned aerial vehicle body, and the other end of the fixed pipe is provided with a horn mouth;
the clamping jaw is arranged at one end, provided with a bell mouth, of the fixed feeding pipe, and the outer wall of the clamping jaw is in sliding contact with the inner wall of the bell mouth and is used for being connected with the power transmission line iron tower;
and the connecting wire is arranged inside the fixed pipe, one end of the connecting wire is connected with the tail part of the clamping jaw, and the other end of the connecting wire is connected with a hoisting motor.
As another embodiment of the present application, the fixing mechanism includes:
one end of the fixed pipe is connected with the unmanned aerial vehicle body, and the other end of the fixed pipe is provided with an electromagnet; the fixed pipe is obliquely arranged relative to the bottom surface of the unmanned aerial vehicle body;
and the control switch is arranged on the fixed pipe, is electrically connected with the electromagnet and is used for controlling the magnetism of the electromagnet.
As another embodiment of the present application, the fixing tube includes a second telescopic rod.
As another embodiment of this application, unmanned aerial vehicle's bottom be equipped with the second steering wheel of fixed union coupling is used for the adjustment the inclination of fixed pipe.
The unmanned aerial vehicle for power transmission line inspection provided by the invention has the beneficial effects that: the bottom of the walking mechanism is connected with the unmanned aerial vehicle body, the top of the walking mechanism is matched with the power transmission line, the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body, and the unmanned aerial vehicle body and the walking mechanism can simultaneously walk along the power transmission line under the driving of the driving mechanism;
in the unmanned aerial vehicle inspection process, an unmanned aerial vehicle body together with a camera shooting mechanism, a walking mechanism and a driving mechanism is controlled to fly below a power transmission line, the walking mechanism is matched with the power transmission line, a rotor wing of the unmanned aerial vehicle body is closed, the unmanned aerial vehicle body is suspended right below the power transmission line through the walking mechanism, the camera shooting mechanism is started, images of the power transmission line are collected, and the unmanned aerial vehicle body and the camera shooting mechanism travel along the power transmission line while traveling and collect the images of the power transmission line under the driving of the driving mechanism;
when the position of the power transmission line iron tower is patrolled, the unmanned aerial vehicle body, the camera shooting mechanism and the fixing mechanism are controlled to fly to the position, below the power transmission line, of the power transmission line iron tower, the fixing mechanism is fixed on the power transmission line iron tower, the rotor wing of the unmanned aerial vehicle is closed, the unmanned aerial vehicle body is fixed on the power transmission line iron tower, the camera shooting mechanism is started, and the image of the power transmission line at the position of the;
compared with the prior art, the unmanned aerial vehicle for power transmission line inspection has the advantages that in the inspection process, the rotor wing of the unmanned aerial vehicle body is in a closed state, so that the power consumption is reduced, the cruising ability of the unmanned aerial vehicle body is enhanced, the frequency of charging or replacing batteries is reduced, and the inspection efficiency is improved; the in-process is patrolled and examined to the circuit, and the unmanned aerial vehicle organism hangs in the power transmission line below through running gear, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear, when patrolling and examining power transmission line iron tower department, the unmanned aerial vehicle organism passes through fixed establishment to be fixed on the power transmission line iron tower, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear.
The invention also provides a power transmission line inspection system which comprises the power transmission line inspection unmanned aerial vehicle, a control terminal and a data storage module, wherein the control terminal is connected with the unmanned aerial vehicle body and the camera shooting mechanism through a communication module, the data storage module is electrically connected with the control terminal, and the data storage module is used for recording image information acquired by the camera shooting mechanism.
The transmission line inspection system provided by the invention has the beneficial effects that: the bottom of the walking mechanism is connected with the unmanned aerial vehicle body, the top of the walking mechanism is matched with the power transmission line, the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body, and the unmanned aerial vehicle body and the walking mechanism can simultaneously walk along the power transmission line under the driving of the driving mechanism;
in the unmanned aerial vehicle inspection process, the control terminal controls an unmanned aerial vehicle body together with the camera shooting mechanism, the walking mechanism and the driving mechanism fly to the position below the power transmission line, the walking mechanism is matched with the power transmission line, the control terminal closes a rotor of the unmanned aerial vehicle body, the unmanned aerial vehicle body is suspended under the power transmission line through the walking structure, the control terminal opens the camera shooting mechanism, images of the power transmission line are collected, the unmanned aerial vehicle body and the camera shooting mechanism travel along the power transmission line under the driving of the driving mechanism, the images of the power transmission line are collected while traveling, and the collected images of the power transmission line are transmitted to the data storage module through the;
when the position of the power transmission line iron tower is patrolled and examined, the control terminal controls the unmanned aerial vehicle body, together with the camera shooting mechanism and the fixing mechanism, to fly to the position, below the power transmission line, of the power transmission line iron tower, the fixing mechanism is fixed on the power transmission line iron tower, the control terminal closes the rotor wing of the unmanned aerial vehicle, the unmanned aerial vehicle body is fixed on the power transmission line iron tower, the control terminal opens the camera shooting mechanism, the image of the power transmission line at the position of the power transmission line iron tower is collected, and the;
compared with the prior art, the power transmission line inspection system has the advantages that in the inspection process, the rotor wing of the unmanned aerial vehicle body is in the closed state, so that the power consumption is reduced, the cruising ability of the unmanned aerial vehicle body is enhanced, the frequency of charging or replacing batteries is reduced, and the inspection efficiency is improved; the in-process is patrolled and examined to the circuit, and the unmanned aerial vehicle organism hangs in the power transmission line below through running gear, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear, when patrolling and examining power transmission line iron tower department, the unmanned aerial vehicle organism passes through fixed establishment to be fixed on the power transmission line iron tower, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a first schematic structural diagram of an electric transmission line inspection unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram ii of the power transmission line inspection unmanned aerial vehicle according to the embodiment of the present invention;
FIG. 3 is a schematic view of a connecting structure of a boom and an unmanned aerial vehicle body;
fig. 4 is a schematic structural diagram of a power transmission line inspection unmanned aerial vehicle according to still another embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a fixing mechanism according to yet another embodiment of the present invention;
in the figure: 1. an unmanned aerial vehicle body; 11. a slot; 2. a camera mechanism; 3. a traveling mechanism; 31. a boom; 311. an elastic chuck; 312. a spring; 32. a roller; 33. a drive motor; 34. a limiting mechanism; 4. a drive mechanism; 41. a windsurfing board; 42. a first steering engine; 5. a power transmission line; 6. a transmission line iron tower; 7. a fixing mechanism; 71. a fixed tube; 72. a second steering engine; 73. a clamping jaw; 74. a slider; 75. a connecting wire; 76. a hoisting motor; 77. and (4) winding the shaft.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 2 and fig. 4 together, the unmanned aerial vehicle for power transmission line inspection provided by the invention will now be described. Unmanned aerial vehicle is patrolled and examined to transmission line, including unmanned aerial vehicle organism 1, camera shooting mechanism 2, running gear 3, actuating mechanism 4 and fixed establishment 7. The camera mechanism 2 is arranged at the top of the unmanned aerial vehicle body 1, when the unmanned aerial vehicle body 1 is located below the power transmission line 5 for a certain distance, the camera mechanism 2 shoots the power transmission line 5, and whether the power transmission line 5 has a fault is judged according to an image shot by the camera mechanism 2; the bottom of the walking mechanism 3 is connected with the unmanned aerial vehicle body 1, the top of the walking mechanism is matched with the power transmission line 5, the unmanned aerial vehicle body 1 conveys the walking mechanism 3 to the power transmission line 5, the walking mechanism 3 is matched and connected with the power transmission line 5, and the unmanned aerial vehicle body 1 is suspended below the power transmission line 5; the driving mechanism 4 is arranged at the bottom of the unmanned aerial vehicle and drives the unmanned aerial vehicle body 1 and the walking mechanism 3 to walk along the power transmission line 5 and shoot the power transmission line 5 while walking; one end of the fixing mechanism 7 is connected with the unmanned aerial vehicle body 1, the other end of the fixing mechanism is connected with the power transmission tower, and when the power transmission line 5 at the position of the power transmission tower 6 is checked, the fixing mechanism 7 fixes the unmanned aerial vehicle body 1 on the power transmission tower 6.
The bottom of the walking mechanism 3 is connected with the unmanned aerial vehicle body 1, the top of the walking mechanism is matched with the power transmission line 5, the driving mechanism 4 is arranged at the bottom of the unmanned aerial vehicle body 1, and the unmanned aerial vehicle body 1 and the walking mechanism 3 can walk along the power transmission line 5 paths simultaneously under the driving of the driving mechanism 4;
in the unmanned aerial vehicle inspection process, an unmanned aerial vehicle body 1 together with a camera mechanism 2, a travelling mechanism 3 and a driving mechanism 4 are controlled to fly to the lower side of a power transmission line 5 way, the travelling mechanism 3 is matched with the power transmission line 5, a rotor wing of the unmanned aerial vehicle body 1 is closed, the unmanned aerial vehicle body 1 is hung under the power transmission line 5 through the travelling structure, the camera mechanism 2 is opened, images of the power transmission line 5 way are collected, the unmanned aerial vehicle body 1 and the camera mechanism 2 travel along the power transmission line 5 way under the driving of the driving mechanism 4, and the images of the power transmission line 5 way are collected while the unmanned aerial;
when the position of the power transmission line tower 6 is inspected, the unmanned aerial vehicle body 1, the camera mechanism 2 and the fixing mechanism 7 are controlled to fly to the position, below the power transmission line tower 5, of the power transmission line tower 6, the fixing mechanism 7 is fixed on the power transmission line tower 6, a rotor wing of the unmanned aerial vehicle is closed, the unmanned aerial vehicle body 1 is fixed on the power transmission line tower 6, the camera mechanism 2 is started, and images of the power transmission line tower 6 of the power transmission line 5 are acquired;
compared with the prior art, in the power transmission line inspection unmanned aerial vehicle, the rotor wing of the unmanned aerial vehicle body 1 is in a closed state in the inspection process, so that the power consumption is reduced, the cruising ability of the unmanned aerial vehicle body 1 is enhanced, the frequency of charging or replacing batteries is reduced, and the inspection efficiency is improved; the in-process is patrolled and examined to the circuit, and unmanned aerial vehicle organism 1 hangs in 5 below of power transmission line through running gear 3, and unmanned aerial vehicle organism 1 is stable, and the image of shooting is clear, when patrolling and examining 6 departments of power transmission line iron tower, unmanned aerial vehicle organism 1 passes through fixed establishment 7 to be fixed on power transmission line iron tower 6, and unmanned aerial vehicle organism 1 is stable, and the image of shooting is clear.
It should be noted that the camera 2 and the driving mechanism 4 are both connected to the power supply in the unmanned aerial vehicle body 1 and are powered by the power supply of the unmanned aerial vehicle body 1.
Insulating material is selected for use to the part of running gear 3's top and the contact of power transmission line 5, prevents that the high tension current that power transmission line 5 carried from transmitting to 1 other mechanisms of unmanned aerial vehicle organism through running gear 3.
The control of the unmanned aerial vehicle body 1, the camera head, the traveling mechanism 3, the driving mechanism 4 and the fixing mechanism 7 is executed by a control terminal for controlling the flight of the unmanned aerial vehicle body 1.
As a specific embodiment of the power transmission line inspection unmanned aerial vehicle provided by the invention, please refer to fig. 2, the traveling mechanism 3 comprises a boom 31 and a roller 32, the bottom end of the boom 31 is connected with the top of the unmanned aerial vehicle body 1, the roller 32 is arranged at the top of the boom 31, a rotating shaft is inserted into the center of the roller 32, the rotating shaft is horizontally arranged, one end of the rotating shaft is fixed at the top end of the boom 31, and the roller 32 rotates around the rotating shaft; the surface of the roller 32 is provided with a notch matched with the power transmission line 5, the power transmission line 5 is embedded in the notch, the roller 32 is prevented from sliding on the power transmission line 5 along the axial direction, and the connection stability of the roller 32 and the power transmission line 5 is ensured;
In this embodiment, the boom 31 is connected with the unmanned aerial vehicle body 1 in a plug-in manner, and is specific, refer to fig. 3, the top of the unmanned aerial vehicle body 1 is provided with a slot 11 with an upward opening, and the opening of the slot 11 is matched with the cross section of the boom 31, the bottom of the side wall of the boom 31 is symmetrically provided with two elastic chucks 311, the side wall of the boom 31 is provided with an accommodating groove for accommodating the elastic chuck 311 corresponding to the elastic chuck 311, the accommodating groove is internally provided with a spring 312, one end of the spring 312 is fixed at the bottom of the accommodating groove, the other end of the spring 312 is fixed at the tail end of the elastic chuck 311, the lower edge of the; two clamping grooves are symmetrically arranged on the side wall of the slot 11, and the elastic clamping head 311 can penetrate through the clamping grooves.
When the suspension rod 31 is installed, one end of the suspension rod 31, where the elastic clamp 311 is arranged, is inserted into the slot 11, the elastic clamp 311 is compressed into the accommodating groove by pressure, the spring 312 is compressed, and the end of the suspension rod 31 is inserted into the slot 11. When the elastic chuck 311 is aligned with the slot of the slot 11, under the elastic action of the spring 312, the elastic chuck 311 pops out from the accommodating groove and passes through the slot, and when the suspension rod 31 is pulled upwards, the elastic chuck 311 is limited by the slot, and the suspension rod 31 completes connection of the unmanned aerial vehicle body 1. When separation jib 31 and unmanned aerial vehicle organism 1, inwards press the elasticity pressure head, press into the holding tank with elasticity dop 311, extract jib 31 can.
As a specific implementation manner of the embodiment of the present invention, the boom 31 is provided as a first telescopic rod, that is, the length of the boom 31 is adjustable, and the distance between the unmanned aerial vehicle body 1 and the power transmission line 5 is adjusted by adjusting the length of the boom 31, so as to ensure that the camera 2 clearly shoots the power transmission line 5 on the premise of ensuring safety.
Referring to fig. 1 and 2, as a specific implementation manner of the embodiment of the present invention, both sides of the driving wheel are provided with a limiting structure 34 for preventing the driving wheel from slipping off the power transmission line 5. In the present embodiment, the limit structure 34 on one side of the driving wheel is the suspension rod 31, the limit structure 34 on the other side is provided as a limit plate, and the limit plate, the driving wheel and the suspension rod 31 form a hook and are hung on the power transmission line 5.
As a specific implementation manner of the embodiment of the invention, please refer to fig. 1 and fig. 2, the driving mechanism 4 includes a sailboard 41 and a first steering engine 42, the first steering engine 42 is disposed at the bottom of the unmanned aerial vehicle body 1, and the first steering engine 42 is connected to the power supply of the unmanned aerial vehicle body 1 and powered by the power supply of the unmanned aerial vehicle body 1; the surface of the windsurfing board 41 is set to be a plane, and after the wind blows to the surface of the windsurfing board 41, the driving force is given to the windsurfing board 41 to blow the windsurfing board 41 to move horizontally; the sailboard 41 is vertically arranged, a connecting shaft is arranged at the center of the sailboard 41 and is vertically arranged, the top end of the connecting shaft is connected with a first steering engine 42, when the first steering engine 42 rotates, the orientation of the sailboard 41 is adjusted, the principle of the sailboard is the same as that of a sailboat, and when the wind direction changes, the moving direction of the sailboard 41 is the arrangement direction of the power transmission line 5 when the wind blows the sailboard 41.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 4 and 5, the fixing mechanism 7 includes a fixing tube 71, a clamping jaw 73 and a connecting wire 75, one end of the fixing tube 71 is connected to the unmanned aerial vehicle body 1, the other end of the fixing tube is provided with a bell mouth, the tail of the clamping jaw 73 is disposed in the bell mouth, the head of the clamping jaw 73 extends out of the bell mouth, the outer wall of the clamping jaw 73 is in sliding contact with the inner wall of the bell mouth, that is, the clamping jaw 73 can slide in the bell mouth.
A slide block 74 is arranged inside the fixed pipe 71, the outer wall of the slide block 74 is in sliding contact with the inner wall of the fixed pipe 71, namely the slide block 74 can slide along the axial direction of the fixed pipe 71, and the tail part of the clamping jaw 73 is fixedly connected with the slide block 74; a connecting wire 75 is axially arranged inside the fixed pipe 71, one end of the connecting wire 75 is connected with the sliding block 74, the other end of the connecting wire 75 is connected with the hoisting motor 76, the winding shaft 77 of the hoisting motor 76 is axially and vertically arranged with the fixed pipe 71, when the hoisting motor 76 rotates forwards, the connecting wire 75 is wound on the winding shaft 77, the sliding block 74 is pulled to move towards the direction of the hoisting motor 76, the sliding block 74 drives the clamping jaw 73 to move towards the fixed pipe 71, when the clamping jaw 73 moves, the bell mouth of the fixed pipe 71 inwards extrudes the clamping jaw 73, and the clamping jaw 73 is tightly clamped on the power transmission line iron tower 6; when the winding motor 76 rotates reversely, the connecting wire 75 is loosened from the winding shaft 77, and the clamping jaw 73 slides out of the fixing tube 71 under the action of the elastic force of the clamping jaw 73, so as to be separated from the power transmission line tower 6.
The hoisting motor 76 is connected with a power supply in the unmanned aerial vehicle body 1 and is powered by the power supply in the unmanned aerial vehicle body 1.
In this embodiment, the inner side of the clamping jaw 73 is provided with a non-slip pad made of rubber, so as to ensure the clamping stability of the clamping jaw 73 to the power transmission line tower 6.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 4, the fixing mechanism 7 includes a fixing tube 71 and a control switch, one end of the fixing tube 71 is connected with the unmanned aerial vehicle body 1, because the material of the power transmission line iron tower 6 is iron, the other end of the fixing tube 71 is provided with an electromagnet, and the electromagnet is adsorbed on the power transmission line iron tower 6; control switch sets up on fixed pipe 71, is connected with the electro-magnet electricity for the break-make electricity of control electro-magnet, the magnetism of control electro-magnet promptly, the electro-magnet is connected with the power in the unmanned aerial vehicle organism 1, by the power supply of unmanned aerial vehicle organism 1.
When control unmanned aerial vehicle flies, control switch control electromagnetism is in the nonmagnetic state of cutting off the power supply, and through the position of adjustment unmanned aerial vehicle organism 1, unmanned aerial vehicle organism 1 is located 5 below certain distances of power transmission line, and when the one end that sets up the electro-magnet of fixed pipe 71 contacted with power transmission line iron tower 6, long-range open control switch, and the electromagnetism switches on, adsorbs on power transmission line iron tower 6.
In this embodiment, fixed pipe 71 sets up for the bottom surface slope of unmanned aerial vehicle organism 1, and fixed pipe 71 sets up to one side, and when the lower extreme of fixed pipe 71 was connected with power transmission line iron tower 6, unmanned aerial vehicle organism 1 was in the horizontality.
As a specific implementation manner of the embodiment of the invention, the fixing tube 71 is provided as a second telescopic rod, that is, the length of the fixing tube 71 is adjustable, and the distance between the unmanned aerial vehicle body 1 and the power transmission line 5 is adjusted by adjusting the length of the fixing tube 71, so that the camera mechanism 2 can clearly shoot the power transmission line 5 on the premise of ensuring safety.
As a specific implementation manner of the embodiment of the invention, the bottom of the unmanned aerial vehicle body 1 is provided with the second steering engine 72 connected with the top of the fixed pipe 71, and when the flight attitude of the unmanned aerial vehicle body 1 is not easy to adjust, the orientation of the fixed pipe 71 is adjusted by the second steering engine 72, so that the end part of the fixed pipe 71 can be connected with the power transmission line iron tower 6.
The invention also provides a power transmission line inspection system which comprises the power transmission line inspection unmanned aerial vehicle, a control terminal and a data storage module, wherein the control terminal is connected with the camera shooting mechanism 2 of the unmanned aerial vehicle body 1 through a 4G communication module, the data storage module is electrically connected with the control terminal, and the data storage module is used for recording image information acquired by the camera shooting mechanism 2.
According to the power transmission line inspection system provided by the invention, the bottom of the walking mechanism 3 is connected with the unmanned aerial vehicle body 1, the top of the walking mechanism is matched with the power transmission line 5, the driving mechanism 4 is arranged at the bottom of the unmanned aerial vehicle body 1, and the unmanned aerial vehicle body 1 and the walking mechanism 3 can walk along the power transmission line 5 path simultaneously under the driving of the driving mechanism 4;
in the unmanned aerial vehicle inspection process, a control terminal controls an unmanned aerial vehicle body 1 together with a camera shooting mechanism 2, a walking mechanism 3 and a driving mechanism 4 fly to the position below a 5-way power transmission line, the walking mechanism 3 is matched with the power transmission line 5, the control terminal closes a rotor wing of the unmanned aerial vehicle body 1, the unmanned aerial vehicle body 1 is hung under the power transmission line 5 through a walking structure, the control terminal opens the camera shooting mechanism 2 and collects images of the 5-way power transmission line, the unmanned aerial vehicle body 1 and the camera shooting mechanism 2 travel along the 5-way power transmission line under the driving of the driving mechanism 4 and collect images of the 5-way power transmission line while traveling, and the collected images of the 5-way power transmission line are transmitted to a data storage;
when the position of a power transmission line iron tower 6 is patrolled and examined, a control terminal controls an unmanned aerial vehicle body 1, a camera shooting mechanism 2 and a fixing mechanism 7 to fly to the position, below a power transmission line 5, of the power transmission line iron tower 6, the fixing mechanism 7 is fixed on the power transmission line iron tower 6, the control terminal closes a rotor wing of the unmanned aerial vehicle, the unmanned aerial vehicle body 1 is fixed on the power transmission line iron tower 6, the control terminal opens the camera shooting mechanism 2, images of the power transmission line 5 at the position of the power transmission line iron tower 6 are collected, and the collected images are transmitted;
compared with the prior art, the power transmission line inspection system has the advantages that in the inspection process, the rotor of the unmanned aerial vehicle body 1 is in the closed state, so that the power consumption is reduced, the cruising ability of the unmanned aerial vehicle body 1 is enhanced, the frequency of charging or replacing batteries is reduced, and the inspection efficiency is improved; the in-process is patrolled and examined to the circuit, and unmanned aerial vehicle organism 1 hangs in 5 below of power transmission line through running gear 3, and unmanned aerial vehicle organism 1 is stable, and the image of shooting is clear, when patrolling and examining 6 departments of power transmission line iron tower, unmanned aerial vehicle organism 1 passes through fixed establishment 7 to be fixed on power transmission line iron tower 6, and unmanned aerial vehicle organism 1 is stable, and the image of shooting is clear.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Unmanned aerial vehicle is patrolled and examined to transmission line, its characterized in that includes:
an unmanned aerial vehicle body;
the camera shooting mechanism is arranged at the top of the unmanned aerial vehicle body;
the lower part of the walking mechanism is connected with the unmanned aerial vehicle body, and the upper part of the walking mechanism is matched with the power transmission line;
the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to walk along the power transmission line;
and one end of the fixing mechanism is connected with the unmanned aerial vehicle body, and the other end of the fixing mechanism is connected with a power transmission line iron tower.
2. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the traveling mechanism includes:
the bottom end of the suspension rod is connected with the top of the unmanned aerial vehicle body;
the roller is arranged at the top of the hanging rod and is axially and horizontally arranged, and a notch matched with the power transmission line is circumferentially arranged on the surface of the roller;
and the output shaft of the driving motor is connected with the roller.
3. The power transmission line inspection unmanned aerial vehicle of claim 2, wherein the boom includes a first telescoping rod.
4. The transmission line inspection unmanned aerial vehicle of claim 2, wherein both sides of the roller are provided with a limiting structure for preventing the roller from slipping off the transmission line.
5. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the drive mechanism includes:
a sailboard arranged vertically;
the first steering engine is arranged at the bottom of the unmanned aerial vehicle body, is connected with the top of the sailboard and is used for controlling the direction of the sailboard.
6. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the securing mechanism includes:
one end of the fixed pipe is connected with the unmanned aerial vehicle body, and the other end of the fixed pipe is provided with a horn mouth;
the clamping jaw is arranged at one end, provided with a bell mouth, of the fixed feeding pipe, and the outer wall of the clamping jaw is in sliding contact with the inner wall of the bell mouth and is used for being connected with the power transmission line iron tower;
and the connecting wire is arranged inside the fixed pipe, one end of the connecting wire is connected with the tail part of the clamping jaw, and the other end of the connecting wire is connected with a hoisting motor.
7. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the securing mechanism includes:
one end of the fixed pipe is connected with the unmanned aerial vehicle body, and the other end of the fixed pipe is provided with an electromagnet; the fixed pipe is obliquely arranged relative to the bottom surface of the unmanned aerial vehicle body;
and the control switch is arranged on the fixed pipe, is electrically connected with the electromagnet and is used for controlling the magnetism of the electromagnet.
8. The power transmission line inspection unmanned aerial vehicle of claim 6 or 7, wherein the fixed pipe comprises a second telescoping rod.
9. The transmission line inspection unmanned aerial vehicle of claim 6 or 7, wherein a second steering engine connected with the fixed pipe is arranged at the bottom of the unmanned aerial vehicle and used for adjusting the inclination angle of the fixed pipe.
10. The power transmission line inspection system is characterized by comprising the power transmission line inspection unmanned aerial vehicle according to any one of claims 1 to 9, a control terminal connected with the unmanned aerial vehicle body and the camera shooting mechanism through a communication module, and a data storage module electrically connected with the control terminal, wherein the data storage module is used for recording image information acquired by the camera shooting mechanism.
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| CN202010235633.6A CN111361739A (en) | 2020-03-30 | 2020-03-30 | Unmanned aerial vehicle and system are patrolled and examined to transmission line |
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| CN202010235633.6A CN111361739A (en) | 2020-03-30 | 2020-03-30 | Unmanned aerial vehicle and system are patrolled and examined to transmission line |
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| CN113937706A (en) * | 2021-10-26 | 2022-01-14 | 国网辽宁省电力有限公司辽阳供电公司 | Icing processing device of power transmission line |
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