CN111879995A - Electricity testing device and electricity testing method - Google Patents
Electricity testing device and electricity testing method Download PDFInfo
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- CN111879995A CN111879995A CN202010819633.0A CN202010819633A CN111879995A CN 111879995 A CN111879995 A CN 111879995A CN 202010819633 A CN202010819633 A CN 202010819633A CN 111879995 A CN111879995 A CN 111879995A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/145—Indicating the presence of current or voltage
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to the technical field of electric power operation and maintenance equipment, and particularly discloses an electricity testing device and an electricity testing method. The electric testing device comprises a shell arranged at the bottom of an unmanned aerial vehicle, wherein the shell is provided with a containing cavity, a cavity opening of the containing cavity faces the bottom of the unmanned aerial vehicle, the containing cavity contains a controller and a telescopic device body, one end of the telescopic device body is provided with an extending portion, the telescopic device body can drive the extending portion to be close to or far away from the telescopic device body, the bottom of the extending portion is provided with an electric testing module for testing electricity, the containing cavity is provided with a through hole capable of penetrating through the extending portion, the telescopic device body is provided with a positioning module, the positioning module is used for acquiring a real-time coordinate position of the unmanned aerial vehicle, and the positioning module, the telescopic device body and the electric. The electric testing device is high in safety, avoids the danger of personal electric shock, and is high in electric testing accuracy.
Description
Technical Field
The invention relates to the technical field of electric power operation and maintenance equipment, in particular to an electricity testing device and an electricity testing method.
Background
Before the power-off electrical equipment is grounded (a grounding wire or a grounding disconnecting link is arranged), electricity inspection is firstly carried out, and the operation safety of operation and maintenance personnel can be ensured after the fact that the electrical equipment has no voltage is verified. The existing electricity testing method is to utilize a high-voltage electricity testing pen, the electricity testing pen consists of an insulating rod and an acousto-optic electroscope, the insulating rod needs to be assembled during electricity testing, the acousto-optic electroscope is arranged at the top of the insulating rod, an insulating glove is worn to hold the bottom of the insulating rod during electricity testing, the electroscope is moved to be in contact with a part to be tested of equipment, and whether voltage exists is judged. The traditional electricity testing method has the following problems:
1. insulating ageing appears in insulator spindle or insulating gloves, leads to the dielectric strength reduction between human body and the high-voltage electrical equipment, has the risk of the personal electric shock.
2. The high-voltage-class (500kV and above) electric equipment to be tested is high in ground distance, the insulating rod is long in length and heavy in weight, at least two people are required to grasp the insulating rod, the electric tester head shakes greatly, and the electric equipment is easy to hit a sleeve porcelain insulator, so that the equipment is damaged.
3. The time for assembling the test pencil is long, and the power failure time of the equipment is prolonged.
Disclosure of Invention
An object of an embodiment of the present invention is to provide an electricity testing device, which has high safety, avoids electric shock hazard of a human body, and has high electricity testing accuracy.
Another object of the embodiments of the present invention is to provide an electricity testing method, which has high safety and high electricity testing efficiency, and reduces the power failure time of electrical equipment.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
the first aspect provides an electricity testing device, including setting up the shell in unmanned aerial vehicle's bottom, the shell is provided with and holds the chamber, hold the accent orientation in chamber unmanned aerial vehicle's bottom, it has controller and telescoping device body to hold the chamber, the one end of telescoping device body is provided with the extension, the telescoping device body can drive the extension is close to or keeps away from the telescoping device body, the bottom of extension is provided with the electricity testing module that is used for testing the electricity, it is provided with and can passes to hold the chamber the through-hole of extension, the telescoping device body is provided with orientation module, orientation module is used for acquireing unmanned aerial vehicle's real-time coordinate position, orientation module the telescoping device body with test the electricity module respectively with the controller is connected.
As a preferred scheme of the electricity testing device, the telescoping device body comprises a driving motor, a wire coil and an insulating wire, one end of the insulating wire is wound on the wire coil, the other end of the insulating wire is connected with the extending portion, the wire coil is arranged on an output shaft of the driving motor, and the driving motor is connected with the controller.
As an optimal scheme of the electricity testing device, an air speed sensor and an air direction sensor are arranged on the unmanned aerial vehicle, and the air speed sensor, the air direction sensor and a driving module of the unmanned aerial vehicle are respectively connected with the controller.
As a preferable scheme of the electricity testing device, an audible and visual alarm is arranged on the extension part and connected with the electricity testing module.
As an optimal scheme of the electricity testing device, a power module is arranged in the unmanned aerial vehicle, a photovoltaic module is arranged at the top of the unmanned aerial vehicle, and the photovoltaic module and the controller are respectively connected with the power module.
As an optimal scheme of the electricity testing device, a camera and an ultrasonic sensor are arranged at the bottom of the unmanned aerial vehicle, and the camera and the ultrasonic sensor are connected with the controller.
As a preferred scheme of the electricity testing device, the electricity testing device further comprises a wireless remote controller, and the wireless remote controller is in communication connection with the controller.
In a second aspect, an electroscopic method applying the electroscopic device is provided, which comprises the following steps:
acquiring a real-time coordinate position of the unmanned aerial vehicle through a positioning module on the telescopic device body;
calculating the deviation amount and direction of the real-time coordinate position relative to a preset coordinate position, and driving the unmanned aerial vehicle to approach the preset coordinate position, wherein the preset coordinate position is the coordinate position of the electrical equipment to be tested plus a preset height;
when the deviation amount of the real-time coordinate position and the preset coordinate position is smaller than a preset threshold value, hovering the unmanned aerial vehicle, releasing the extension part through the telescopic device body, wherein the value of the release height of the extension part is the same as that of the preset height, so that the electricity testing module on the extension part tests electricity of the electrical equipment.
As a preferable scheme of the electricity testing method of the electricity testing device, the method further comprises the following steps:
the method comprises the steps that the weight and the overall dimension of the extending part are obtained in advance, the preset height is obtained after the deviation amount of the real-time coordinate position and the preset coordinate position is smaller than a preset threshold value, the wind speed value detected by a wind speed sensor arranged on the unmanned aerial vehicle is obtained, and the wind direction value detected by a wind direction sensor arranged on the unmanned aerial vehicle is obtained;
calculating the deviated coordinate position of the extension part influenced by wind power according to the weight of the extension part, the external dimension of the extension part, the wind speed value, the wind direction value and the preset height;
and calculating a corrected coordinate position of the deviated coordinate position, which is symmetrical about the midpoint of the preset height, and driving the unmanned aerial vehicle to move to the corrected coordinate position.
As a preferable mode of the electricity verification method of the electricity verification apparatus, the calculating of the corrected coordinate position of the deviated coordinate position symmetrical with respect to the midpoint of the preset height includes:
obtaining a first X-axis coordinate value, a first Y-axis coordinate value and a first Z-axis coordinate value of the preset coordinate position, subtracting a value of a half of the preset height from the first Z-axis coordinate value to obtain a middle Z-axis coordinate value, and marking a point where the first X-axis coordinate value, the first Y-axis coordinate value and the middle Z-axis coordinate value are located as a middle symmetric point;
calculating the corrected coordinate position where the deviated coordinate position is symmetrical with respect to the intermediate point of symmetry.
The embodiment of the invention has the beneficial effects that:
set up the shell through the bottom at unmanned aerial vehicle, the shell is provided with and holds the chamber, and the accent that holds the chamber and has held controller and telescoping device body towards unmanned aerial vehicle's bottom, can seal protection with controller and telescoping device body. The one end of telescoping device body is provided with the extension, and the telescoping device body can drive the extension and be close to or keep away from the telescoping device body, and the bottom of extension is provided with the electricity testing module that is used for testing the electricity, holds the chamber and is provided with the through-hole that can pass the extension for the extension can stretch out and be close the electrical equipment who waits to test the electricity from the through-hole that holds on the chamber, tests the electricity module and can directly test the electricity to electrical equipment. In addition, the telescoping device body is provided with orientation module, orientation module is used for acquireing unmanned aerial vehicle's real-time coordinate position, with orientation module, the telescoping device body is connected with the controller respectively with electricity testing module, through with real-time coordinate position with predetermine the coordinate position contrast, unmanned aerial vehicle can automatic planning channel and reach and predetermine coordinate position point of being in, control telescoping device body release extension after reaching the destination, the electricity testing value that electricity testing module on the storage extension detected after electricity testing finishes, follow-up unmanned aerial vehicle can return to the air automatically, realize the automatic operation of testing the electricity. The electricity testing device provided by the embodiment of the invention does not need to test electricity by contacting a human body with electrical equipment, does not need to use an insulating rod or an insulating glove for operation, is high in safety and avoids the risk of electric shock of the human body; the unmanned aerial vehicle can be used for carrying out electricity testing, unmanned operation can be achieved, and the unmanned aerial vehicle has a fixed-point hovering function, so that the electricity testing accuracy is improved; in addition, the electricity testing module and the telescopic device body do not need to be disassembled and assembled, the electricity testing efficiency is improved, and the power failure time of the electrical equipment is reduced.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic front view of an electrical testing apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic partial structure diagram of an electrical testing apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic axial view of an electrical testing apparatus according to an embodiment of the present invention.
Fig. 4 is a flowchart of an electrical testing method of an electrical testing device according to an embodiment of the present invention.
Fig. 5 is a flowchart of an electrical testing method of an electrical testing device according to another embodiment of the present invention.
In the figure:
1. a housing; 11. an accommodating chamber; 111. a through hole; 2. a controller; 3. a telescoping device body; 31. an extension; 32. a drive motor; 33. wire coils; 34. an insulated wire; 41. an electricity testing module; 42. a positioning module; 43. a wind speed sensor; 44. a wind direction sensor; 45. an audible and visual alarm; 46. a camera; 47. an ultrasonic sensor; 51. a power supply module; 52. a photovoltaic module; 6. a wireless remote controller; 200. an unmanned aerial vehicle; 201. a foot rest.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 and 2, an embodiment of the invention provides an electricity testing device, which includes a housing 1 disposed at the bottom of an unmanned aerial vehicle 200, the housing 1 is provided with a containing cavity 11, a cavity opening of the containing cavity 11 faces the bottom of the unmanned aerial vehicle 200, the containing cavity 11 contains a controller 2 and a telescopic device body 3, one end of the telescopic device body 3 is provided with an extending portion 31, the telescopic device body 3 can drive the extending portion 31 to approach or depart from the telescopic device body 3, the bottom of the extending portion 31 is provided with an electricity testing module 41 for testing electricity, the containing cavity 11 is provided with a through hole 111 capable of penetrating through the extending portion 31, the telescopic device body 3 is provided with a positioning module 42, the positioning module 42 is used for acquiring a real-time coordinate position of the unmanned aerial vehicle 200, and the positioning module 42, the telescopic device body 3 and the electricity testing module 41.
According to the embodiment of the invention, the shell 1 is arranged at the bottom of the unmanned aerial vehicle 200, the shell 1 is provided with the accommodating cavity 11, the opening of the accommodating cavity 11 faces the bottom of the unmanned aerial vehicle 200, and the accommodating cavity 11 is provided with the controller 2 and the telescopic device body 3, so that the controller 2 and the telescopic device body 3 can be sealed and protected. One end of telescoping device body 3 is provided with extension 31, and telescoping device body 3 can drive extension 31 and be close to or keep away from telescoping device body 3, and the bottom of extension 31 is provided with the electroscope module 41 that is used for testing the electricity, holds the chamber 11 and is provided with the through-hole 111 that can pass extension 31 for extension 31 can stretch out and be close the electrical equipment that waits to test the electricity from the through-hole 111 that holds on the chamber 11, and electroscope module 41 can directly test the electricity to electrical equipment. In addition, telescoping device body 3 is provided with orientation module 42, orientation module 42 is used for acquireing unmanned aerial vehicle 200's real-time coordinate position, with orientation module 42, telescoping device body 3 and electricity testing module 41 are connected with controller 2 respectively, through with real-time coordinate position with predetermine the coordinate position contrast, unmanned aerial vehicle 200 can automatic planning channel and arrive and predetermine coordinate position point of occurrence, control telescoping device body 3 release extension 31 after reaching the destination, the electricity testing value that electricity testing module 41 on the storage extension 31 detected after electricity testing finishes, follow-up unmanned aerial vehicle 200 can return to the journey automatically, realize the operation of automatic electricity testing. The electricity testing device provided by the embodiment of the invention does not need to test electricity by contacting a human body with electrical equipment, does not need to use an insulating rod or an insulating glove for operation, is high in safety and avoids the risk of electric shock of the human body; the unmanned aerial vehicle 200 can be used for electricity testing, unmanned operation can be achieved, the unmanned aerial vehicle 200 has a fixed-point hovering function, and electricity testing accuracy is improved; in addition, the electricity testing module 41 and the telescopic device body 3 do not need to be disassembled and assembled, so that the electricity testing efficiency is improved, and the power failure time of the electrical equipment is reduced.
In this embodiment, the fixed-point hovering function of the unmanned aerial vehicle 200 is to fix the unmanned aerial vehicle 200 at a preset height position and a horizontal position, notify the current position of the unmanned aerial vehicle 200 in real time through a negative feedback automatic control system arranged in the unmanned aerial vehicle 200, and automatically adjust the unmanned aerial vehicle 200 to return to the preset position when the unmanned aerial vehicle 200 deviates from the preset position. And negative feedback automatic control system can be that multiple mode is realized, for example, can set up GPS module and barometer inside unmanned aerial vehicle 200 to obtain the vertical height position and the horizontal position of unmanned aerial vehicle 200 relative earth's surface in real time, in addition, vertical height position also can realize through laser sensor. Establishing a real-time coordinate point in a space coordinate system according to the vertical height position and the horizontal position data, comparing the real-time coordinate point with a preset coordinate point of a preset position, and driving the real-time position of the unmanned aerial vehicle 200 to be close to the preset position according to a compared deviation value. Specifically, when the unmanned aerial vehicle 200 is affected by the outside and the height tends to rise or fall, the control unit inside the unmanned aerial vehicle 200 adjusts the power of the driving module to perform motion compensation in the opposite direction; if the drone 200 has a tendency to be blown laterally away from the hover position by wind, the control unit may initiate a side-fly mode to counteract it.
Besides using the GPS module to realize the fixed-point hovering function, the drone 200 may also use an Inertial Measurement Unit (IMU), which is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. By means of a built-in acceleration sensor and a built-in gyroscope, the IMU can measure linear acceleration and rotation angular rate from three directions, and information such as the attitude, the speed and the displacement of the carrier can be obtained through calculation. When the weather is not good and the GPS module of the unmanned aerial vehicle 200 is difficult to search stars, the current flight attitude can be identified through the IMU, automatic balance compensation is carried out, fixed-point hovering can be achieved, and therefore locking of the height and the horizontal position can be achieved.
In one embodiment, referring to fig. 2, the retractor body 3 includes a driving motor 32, a wire coil 33, and an insulated wire 34, one end of the insulated wire 34 is wound on the wire coil 33, the other end of the insulated wire 34 is fixed to the extension 31, the wire coil 33 is disposed on an output shaft of the driving motor 32, the driving motor 32 is connected to the controller 2, and the insulated wire 34. By controlling the speed and direction of rotation of the drive motor 32, the speed and direction of rotation of the spool 33 on the output shaft can be controlled, thereby releasing or retracting the extension 31 secured to the insulated wire 34.
Optionally, referring to fig. 1, an air velocity sensor 43 and an air direction sensor 44 are disposed on the unmanned aerial vehicle 200, drive modules of the air velocity sensor 43, the air direction sensor 44 and the unmanned aerial vehicle 200 are respectively connected to the controller 2, and by disposing the air velocity sensor 43 and the air direction sensor 44, the size and the direction of the wind resistance suffered by the unmanned aerial vehicle 200 at present can be calculated, and then the drive module of the unmanned aerial vehicle 200 is used to resist the wind resistance, so that the unmanned aerial vehicle 200 can still be kept stable when suffering from strong wind.
Particularly, referring to fig. 1, an audible and visual alarm 45 is disposed on the extension portion 31, the audible and visual alarm 45 is connected to the electricity testing module 41, when the electricity testing module 41 tests that the electrical equipment is electrified, the audible and visual alarm 45 sends out a sound wave warning message or a lighting message to prompt nearby operation and maintenance personnel, and the currently tested electrical equipment is electrified and needs to be shielded and kept away for further maintenance.
In another embodiment, referring to fig. 2 and 3, a power module 51 is disposed in the drone 200, a photovoltaic module 52 is disposed on the top of the drone 200, and the photovoltaic module 52 and the controller 2 are respectively connected to the power module 51. Photovoltaic module 52 can become the electric energy with solar energy conversion, when unmanned aerial vehicle 200 is in outdoor sunshine environment, can charge for power module 51, promotes unmanned aerial vehicle 200's continuation of the journey.
In addition, referring to fig. 1, the bottom of the unmanned aerial vehicle 200 is provided with a camera 46 and an ultrasonic sensor 47, the camera 46 and the ultrasonic sensor 47 are connected with the controller 2, when the positioning module 42 is out of order, images of the surrounding environment can be acquired in real time through the camera 46 and are subjected to image recognition, a target position (a preset coordinate position) is found, the distance between the unmanned aerial vehicle 200 and a surrounding obstacle can be detected in real time through the ultrasonic sensor 47, the distance of the target position can be directionally acquired, and therefore the positioning module 42 can be assisted or replaced to reach the target position (the preset coordinate position).
In order to further enhance the flight accuracy of the unmanned aerial vehicle 200 reaching the destination position (preset coordinate position), referring to fig. 3, the electricity testing apparatus of the embodiment of the present invention further includes a wireless remote controller 6, and the wireless remote controller 6 is in communication connection with the controller 2. When the unmanned aerial vehicle 200 encounters an emergency and the built-in program of the controller 2 cannot implement a strategy in the face of the emergency, operation and maintenance personnel can directly select the unmanned aerial vehicle 200 to fly on an optimal navigation route by manually operating the wireless remote controller 6 according to the field situation and the flight experience, thereby reducing the useless work of the unmanned aerial vehicle 200, saving the energy and avoiding damaging the unmanned aerial vehicle 200 and the electricity testing device in the embodiment of the invention.
Preferably, referring to fig. 1, the bottom of the drone 200 is provided with a foot rest 201, the foot rest 201 is arranged at the periphery of the housing 1, and the lowest point of the electroscopic module 41 is higher than the lowest point of the foot rest 201. Therefore, this embodiment is placed on ground at unmanned aerial vehicle 200, tests electric module 41 and does not contact ground, only foot rest 201 and ground contact, play the effect of the electric module 41 of testing of protection electroscope. More preferably, the foot rest 201 is fixedly arranged with the housing 1, and the foot rest 201 adopts a wire frame structure, so as to achieve the effect of reducing the volume.
Referring to fig. 4, an embodiment of the present invention further provides an electrical testing method using the electrical testing apparatus of any one of the above embodiments, including:
s101, acquiring a real-time coordinate position of the unmanned aerial vehicle 200 through a positioning module 42 on the telescopic device body 3;
s102, calculating the deviation amount and the direction of the real-time coordinate position relative to a preset coordinate position, and driving the unmanned aerial vehicle 200 to approach the preset coordinate position, wherein the preset coordinate position is the coordinate position of the electrical equipment to be tested plus a preset height;
s103, when the deviation amount of the real-time coordinate position and the preset coordinate position is smaller than the preset threshold value, the unmanned aerial vehicle 200 hovers, the extension part 31 is released through the telescopic device body 3, the value of the release height of the extension part 31 is the same as the value of the preset height, and the electricity testing module 41 on the extension part 31 tests electricity of the electrical equipment.
According to the embodiment of the invention, when the deviation amount between the real-time coordinate position and the preset coordinate position is smaller than the preset threshold value, the unmanned aerial vehicle 200 is judged to be in the preset coordinate position, at the moment, the unmanned aerial vehicle 200 is hovered and the extension part 31 is released, and the electricity testing module 41 can be accurately parked on the electrical equipment to be tested.
Further, referring to fig. 5, the method for testing the electricity of the electricity testing device of the embodiment of the present invention further includes:
the method comprises the steps of obtaining the weight and the external dimension of an extension part 31 in advance, obtaining a preset height after the deviation amount of a real-time coordinate position and a preset coordinate position is smaller than a preset threshold value, obtaining a wind speed value detected by a wind speed sensor 43 arranged on an unmanned aerial vehicle 200, and obtaining a wind direction value detected by a wind direction sensor 44 arranged on the unmanned aerial vehicle 200;
calculating the deviated coordinate position of the extension part 31 influenced by wind force according to the weight of the extension part 31, the external dimension of the extension part 31, the wind speed value, the wind direction value and the preset height;
and calculating a corrected coordinate position of the deviated coordinate position symmetrical about the midpoint of the preset height, and driving the unmanned aerial vehicle 200 to move to the corrected coordinate position.
Since the extension portion 31 may be blown by wind and deviated from the electrical device when being released, the embodiment of the present invention can acquire a wind direction value of a current wind speed value through the wind speed sensor 43 and the wind direction sensor 44, and then can calculate a deviation coordinate position of the extension portion 31 with respect to an original position on the electrical device according to a weight of the extension portion 31, an external dimension of the extension portion 31, and a preset height stored in advance, at this time, the unmanned aerial vehicle 200 is driven to move in a direction opposite to the deviation direction of the extension portion 31, and the moving distance is equal to the deviation distance, so that the extension portion 31 can be moved back to the original position on the electrical device.
More preferably, with continued reference to fig. 5, in the method for testing an electrical device according to an embodiment of the present invention, the step of calculating a corrected coordinate position that is offset from the coordinate position and is symmetrical about a midpoint of the preset height includes:
obtaining a first X-axis coordinate value, a first Y-axis coordinate value and a first Z-axis coordinate value of a preset coordinate position, subtracting a value of half of a preset height from the first Z-axis coordinate value to obtain a middle Z-axis coordinate value, and marking a point where the first X-axis coordinate value, the first Y-axis coordinate value and the middle Z-axis coordinate value are located as a middle symmetric point;
a corrected coordinate position is calculated where the off-coordinate position is symmetric about the central point of symmetry.
When the extension 31 is blown away from the original position on the electric device, the coordinate values of the three XYZ axes in the spatial coordinate system are all changed to obtain the off-coordinate position, and the position of the unmanned aerial vehicle 200 needs to be corrected to correct the off-position of the extension 31, and the corrected position is the corrected coordinate position. According to the parallel principle, the corrected coordinate position and the deviated coordinate position are symmetrical about the center of a vertical straight line where the preset coordinate position is located, and the intersection point of a connecting line of the corrected coordinate position and the deviated coordinate position and the vertical straight line where the preset coordinate position is located is a bisection point of the preset height. Therefore, the embodiment may first calculate the bisector (i.e., the middle symmetry point) of the preset height, and then calculate the point symmetrical with respect to the middle symmetry point according to the deviated coordinate position, so as to obtain the corrected coordinate position.
In an alternative embodiment, the step of releasing the extension 31 by means of the telescopic device body 3 comprises:
prestoring the winding direction of the insulated wire 34 wound on the wire coil 33;
the direction opposite to the winding direction is set as a releasing direction, and the driving motor 32 is driven to rotate in the releasing direction, so that the insulated wire 34 on the wire coil 33 is released.
In the present embodiment, the insulated wire 34 separated from the wire coil 33 can be straightened by the action of the weight of the extension 31, and finally the extension 31 can be released from the through hole 111 of the housing 1.
Specifically, the rotation speed of the driving motor 32 may be slowly accelerated from zero rotation speed to a constant speed, and then slowly decelerated when the extension portion 31 approaches the electrical device, or may be continuously rotated at a constant speed, and the embodiment is not particularly limited.
In another optional embodiment, the method for testing the electricity of the electricity testing device of the embodiment of the present invention further includes:
when the electricity testing module 41 tests electricity for the electrical equipment, the electricity testing value of the electricity testing module 41 is stored.
Particularly, when the electricity testing value detected by the electricity testing module 41 is greater than the preset electricity testing threshold value, the audible and visual alarm 45 sends out sound wave warning information or illumination information so as to prompt nearby operation and maintenance personnel that the currently tested electrical equipment is electrified and needs to be shielded and kept away for further maintenance.
In addition, when detecting that the photovoltaic module 52 has an input of current, the charging mode of the power module 51 is turned on. When unmanned aerial vehicle 200 is in the open air sunshine environment, photovoltaic module 52 can become the electric energy with solar energy conversion, opens power module 51's the mode of charging this moment, receives photovoltaic module 52's current input, can promote unmanned aerial vehicle 200's continuation of the journey.
Referring to fig. 5, the method for testing electricity of the electricity testing device of the embodiment of the present invention includes:
s201, acquiring a real-time coordinate position of the unmanned aerial vehicle 200 through a positioning module 42 on the telescopic device body 3;
s202, calculating the deviation amount and the direction of the real-time coordinate position relative to a preset coordinate position, and driving the unmanned aerial vehicle 200 to approach the preset coordinate position, wherein the preset coordinate position is the coordinate position of the electrical equipment to be tested plus a preset height;
s203, when the deviation amount between the real-time coordinate position and the preset coordinate position is smaller than a preset threshold value, hovering the unmanned aerial vehicle 200, releasing the extension part 31 through the telescopic device body 3, wherein the value of the release height of the extension part 31 is the same as that of the preset height, so that the electricity testing module 41 on the extension part 31 tests electricity of the electrical equipment;
s204, acquiring the weight and the outline dimension of the extension part 31 in advance, acquiring a preset height after the deviation amount between the real-time coordinate position and the preset coordinate position is smaller than a preset threshold value, acquiring a wind speed value detected by a wind speed sensor 43 arranged on the unmanned aerial vehicle 200, and acquiring a wind direction value detected by a wind direction sensor 44 arranged on the unmanned aerial vehicle 200;
s205, calculating a deviation coordinate position of the extension part 31 influenced by wind force according to the weight of the extension part 31, the external dimension of the extension part 31, the wind speed value, the wind direction value and the preset height;
s206, obtaining a first X-axis coordinate value, a first Y-axis coordinate value and a first Z-axis coordinate value of a preset coordinate position, subtracting a value of a half of a preset height from the first Z-axis coordinate value to obtain a middle Z-axis coordinate value, and marking a point where the first X-axis coordinate value, the first Y-axis coordinate value and the middle Z-axis coordinate value are located as a middle symmetric point; and calculating a corrected coordinate position of the deviated coordinate position symmetrical about the middle symmetrical point, and driving the unmanned aerial vehicle 200 to move to the corrected coordinate position.
Particularly, the electricity testing device in this embodiment may have the same structure and achieve the same effects as the electricity testing device in the above embodiment, and the electricity testing method in this embodiment has the same steps and achieves the same effects as the electricity testing method in the above embodiment, and the description of this embodiment is omitted.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are used in a descriptive sense or a positional relationship based on the orientation shown in the drawings for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The utility model provides an electricity testing device, its characterized in that, including setting up the shell in unmanned aerial vehicle's bottom, the shell is provided with and holds the chamber, hold the accent orientation in chamber unmanned aerial vehicle's bottom, it has controller and telescoping device body to hold the chamber, the one end of telescoping device body is provided with the extension, the telescoping device body can drive the extension is close to or keeps away from the telescoping device body, the bottom of extension is provided with the electricity testing module that is used for testing the electricity, it is provided with and can passes to hold the chamber the through-hole of extension, the telescoping device body is provided with orientation module, orientation module is used for acquireing unmanned aerial vehicle's real-time coordinate position, orientation module the telescoping device body with test the electricity module respectively with the controller is connected.
2. The electroscope of claim 1, wherein the telescoping device body comprises a driving motor, a wire coil and an insulated wire, one end of the insulated wire is wound on the wire coil, the other end of the insulated wire is connected with the extension portion, the wire coil is arranged on an output shaft of the driving motor, and the driving motor is connected with the controller.
3. The electroscope of claim 1, wherein the unmanned aerial vehicle is provided with an air speed sensor and an air direction sensor, and the air speed sensor, the air direction sensor and a driving module of the unmanned aerial vehicle are respectively connected with the controller.
4. The electroscope of claim 1, wherein an audible and visual alarm is disposed on the extension, and the audible and visual alarm is connected to the electroscope module.
5. The electroscope of claim 1, wherein a power module is disposed in the unmanned aerial vehicle, a photovoltaic module is disposed on the top of the unmanned aerial vehicle, and the photovoltaic module and the controller are respectively connected to the power module.
6. The electroscope of claim 1, wherein the bottom of the unmanned aerial vehicle is provided with a camera and an ultrasonic sensor, and the camera and the ultrasonic sensor are connected with the controller.
7. The electroscopic device of claim 1 and further comprising a wireless remote control communicatively coupled to the controller.
8. An electroscopic method using an electroscopic device according to any one of claims 1 to 7, comprising:
acquiring a real-time coordinate position of the unmanned aerial vehicle through a positioning module on the telescopic device body;
calculating the deviation amount and direction of the real-time coordinate position relative to a preset coordinate position, and driving the unmanned aerial vehicle to approach the preset coordinate position, wherein the preset coordinate position is the coordinate position of the electrical equipment to be tested plus a preset height;
when the deviation amount of the real-time coordinate position and the preset coordinate position is smaller than a preset threshold value, hovering the unmanned aerial vehicle, releasing the extension part through the telescopic device body, wherein the value of the release height of the extension part is the same as that of the preset height, so that the electricity testing module on the extension part tests electricity of the electrical equipment.
9. The method of electroscopy of an electroscope of claim 8, further comprising:
the method comprises the steps that the weight and the overall dimension of the extending part are obtained in advance, the preset height is obtained after the deviation amount of the real-time coordinate position and the preset coordinate position is smaller than a preset threshold value, the wind speed value detected by a wind speed sensor arranged on the unmanned aerial vehicle is obtained, and the wind direction value detected by a wind direction sensor arranged on the unmanned aerial vehicle is obtained;
calculating the deviated coordinate position of the extension part influenced by wind power according to the weight of the extension part, the external dimension of the extension part, the wind speed value, the wind direction value and the preset height;
and calculating a corrected coordinate position of the deviated coordinate position, which is symmetrical about the midpoint of the preset height, and driving the unmanned aerial vehicle to move to the corrected coordinate position.
10. The method of electroscopy of claim 9, wherein said calculating a corrected coordinate position where said off-coordinate position is symmetric about a midpoint of said preset height comprises:
obtaining a first X-axis coordinate value, a first Y-axis coordinate value and a first Z-axis coordinate value of the preset coordinate position, subtracting a value of a half of the preset height from the first Z-axis coordinate value to obtain a middle Z-axis coordinate value, and marking a point where the first X-axis coordinate value, the first Y-axis coordinate value and the middle Z-axis coordinate value are located as a middle symmetric point;
calculating the corrected coordinate position where the deviated coordinate position is symmetrical with respect to the intermediate point of symmetry.
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| CN202010819633.0A CN111879995A (en) | 2020-08-14 | 2020-08-14 | Electricity testing device and electricity testing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022094875A1 (en) * | 2020-11-05 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Positioning device, remote control terminal, unmanned aerial vehicle, and unmanned aerial device |
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| CN113009210A (en) * | 2021-03-18 | 2021-06-22 | 山东吉瑞达电气有限公司 | Non-contact high-voltage electroscope |
| WO2023003336A1 (en) * | 2021-07-20 | 2023-01-26 | 이하나 | Drone integrated control apparatus |
| KR20230014000A (en) * | 2021-07-20 | 2023-01-27 | 이하나 | Drone integrated control device |
| KR102531721B1 (en) | 2021-07-20 | 2023-05-10 | 이하나 | Drone integrated control device |
| CN114062722A (en) * | 2021-11-15 | 2022-02-18 | 国家电网有限公司 | Unmanned aerial vehicle electroscope |
| CN114062722B (en) * | 2021-11-15 | 2024-04-02 | 国家电网有限公司 | Unmanned aerial vehicle electroscope |
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Application publication date: 20201103 |