CN112340018A

CN112340018A - Power inspection unmanned aerial vehicle based on intelligent image recognition and inspection method

Info

Publication number: CN112340018A
Application number: CN202011309678.XA
Authority: CN
Inventors: 张超; 宋玉佳
Original assignee: Xia Qianru
Current assignee: Xia Qianru
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2021-02-09

Abstract

The invention discloses an electric power inspection unmanned aerial vehicle based on intelligent image recognition and an inspection method, belonging to the technical field of electric power inspection, and the technical scheme is characterized in that the electric power inspection unmanned aerial vehicle comprises an unmanned aerial vehicle body and a controller, wherein the bottom of the unmanned aerial vehicle body is fixedly connected with two brackets, the image acquisition device can be accommodated when the unmanned aerial vehicle body rises and falls by arranging an equipment box and utilizing a second servo motor, a movable plate and a first electric push rod to be mutually combined, so that the image acquisition device is prevented from colliding, the protection performance of the device is improved, the image acquisition device can be rotated by arranging a first servo motor and a gear, the direction and the angle of the image acquisition device can be rotated according to actual conditions, the electric power inspection is more convenient, the image acquisition device can be reinforced by arranging a reinforcing component, the unmanned aerial vehicle body is prevented from shaking when rising and falling, and the image acquisition device can be effectively guaranteed to shake during working, and the stability of the image acquisition device is improved.

Description

Power inspection unmanned aerial vehicle based on intelligent image recognition and inspection method

Technical Field

The invention relates to the technical field of power inspection, in particular to a power inspection unmanned aerial vehicle based on intelligent image recognition and an inspection method.

Background

With the rapid development of economy in China, the demand for energy is increasing, ultrahigh-voltage high-capacity power lines are being largely expanded, and power line corridors in China need to pass through various complex geographic environments, most of which pass through large-area reservoirs, lakes, Chongshan mountains and the like, which bring great difficulty to the detection of the power lines, so that the daily detection of the power lines becomes a difficult task.

The traditional power line and pipeline inspection process is that a worker personally visits a field inspection line, the inspection objects mainly comprise facilities, towers, wires, transformers, insulators, cross arms, disconnecting links and other equipment, the inspection conditions are recorded by paper, and then the inspection conditions are manually recorded into a computer, the existing power line and pipeline inspection process adopts an unmanned aerial vehicle to carry out intelligent image recognition and transmit data to a control terminal for recording, but when an image acquisition device in the unmanned aerial vehicle rises and falls, the image acquisition device is exposed outside the unmanned aerial vehicle, the image acquisition device is easy to shake or collide, the device is damaged, the existing support of the unmanned aerial vehicle is a flat plate, and when the road surface condition is poor, the unmanned aerial vehicle is easy to support unstably when the road surface lands on a rugged road surface, and the unmanned aerial vehicle can topple over when the rugged road surface is serious, therefore, the technicians in the field provide the power inspection unmanned aerial vehicle based on the intelligent image recognition, to solve the problems set forth in the background art described above.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide an electric power inspection unmanned aerial vehicle based on intelligent image recognition and an inspection method.

2. Technical scheme

In order to solve the problems, the invention adopts the following technical scheme: an electric power inspection unmanned aerial vehicle based on intelligent image recognition and an inspection method, which comprises an unmanned aerial vehicle body and a controller, wherein the bottom of the unmanned aerial vehicle body is fixedly connected with two brackets, the bottoms of the brackets are provided with stabilizing components which are uniformly distributed, an equipment box is embedded and installed at the bottom of the unmanned aerial vehicle body, the inner top wall of the equipment box is fixedly connected with a first electric push rod, the bottom of the first electric push rod is fixedly connected with a fixed plate, the bottom of the fixed plate is rotatably connected with a rotating rod, the bottom of the rotating rod is hinged with an image acquisition device, the surface of the rotating rod is hinged with a second electric push rod, the bottom of the second electric push rod is hinged with the top of the image acquisition device, the bottom of the fixed plate is fixedly connected with a first servo motor, and the output shaft of the first servo motor and the surface, two gear intermeshing connects, the input of first servo motor, first electric putter, second electric putter all is connected with the output electric connection of controller.

Furthermore, the inner wall both sides fixedly connected with third electric putter of equipment case, two the equal fixedly connected with of opposite side of third electric putter consolidates the subassembly, the input of third electric putter all with the output electric connection of controller.

Further, the bottom of equipment box has seted up the bar mouth, the inside of equipment box has seted up the quantity and is two and the bar groove that is linked together with the bar mouth, the inside swing joint in bar groove has the fly leaf, the bottom fixedly connected with second servo motor of equipment box, the output shaft fixedly connected with of second servo motor rotates the lead screw of being connected with the bottom of the equipment box, the surperficial threaded connection of lead screw has the quantity to be two thread bush, two thread bush inside screw direction is opposite, the input of second servo motor and the output electric connection of controller.

Furthermore, the bottom of the equipment box is provided with two limiting openings which are communicated with the strip-shaped groove, the top of the threaded sleeve is fixedly connected with a connecting rod, and the connecting rod penetrates through the limiting openings and is fixedly connected with the movable plate.

Furthermore, the reinforcing component comprises a reinforcing plate, a moving block is connected to the inner wall of the reinforcing plate in a sliding mode, a third spring is fixedly connected to one side, away from the moving block, of the inner wall of the reinforcing plate, a pressure sensor is fixedly connected to one side, close to the moving block, of the third spring, the output end of the pressure sensor is electrically connected with the input end of the controller, and a sponge is arranged on one side, close to the moving block, of the reinforcing plate.

Furthermore, a second sliding groove is formed in the top of the inner wall of the reinforcing plate and in the bottom of the inner wall of the reinforcing plate, a second sliding block is fixedly connected to the top and the bottom of the moving block, the second sliding block is located on the inner wall of the second sliding groove, a fourth spring is fixedly connected to one side, away from the moving block, of the second sliding block, and the other end of the fourth spring is fixedly connected with the inner wall of the second sliding groove.

Further, stabilize the subassembly and include stable seat, stable seat and support sliding connection, the first spring of bottom fixedly connected with of support, the bottom of first spring and the interior diapire fixed connection of stable seat, the bottom of stable seat articulates there is the bracing piece, the bottom fixedly connected with of bracing piece increases and hinders the pad.

Further, the top fixedly connected with second spring of bracing piece, the top of second spring and the bottom fixed connection of stable seat, it has the telescopic link that is located the inside of second spring to articulate between bracing piece and the stable seat.

Further, the equal fixedly connected with first slider in both sides of support, first spout has all been seted up to the inner wall both sides of stabilizing the seat, first slider is located the inner wall of first spout.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) according to the scheme, the equipment box is arranged, the second servo motor, the movable plate and the first electric push rod are combined with one another, the image acquisition device can be stored when the unmanned aerial vehicle body rises and falls, the image acquisition device is prevented from colliding, the protection performance of the device is improved, the image acquisition device can rotate by arranging the first servo motor and the gear, the direction and the angle of the image acquisition device can be rotated according to actual conditions, and the power inspection is more convenient;

(2) the image acquisition device can be reinforced by arranging the reinforcing component, so that the unmanned aerial vehicle body is prevented from shaking during taking off and landing, the image acquisition device can be effectively ensured to shake during working, the stability of the image acquisition device is improved, the unmanned aerial vehicle body can adapt to different ground during landing by arranging the stabilizing component, and the situations that the support is unstable in connection with the ground and topples over are avoided;

(3) through setting up spacing mouthful and connecting rod, can carry out spacingly to the thread bush, avoid the thread bush to drive the emergence skew when fly leaf removes, the normal operating of guarantee device.

(4) The increase of the time when falling to the ground in the subassembly of stabilizing fills up and contacts with ground at first, and the bracing piece drives the second spring and takes place the bending, and corresponding change takes place for the telescopic link, stabilizes seat rebound, and first slider removes in first spout, and a plurality of subassemblies of stabilizing can realize supporting at the ground height of difference, through setting up the subassembly of stabilizing for the unmanned aerial vehicle body can adapt to different ground when descending, avoids appearing support and ground connection unstability, and the condition of empting appears.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a front cross-sectional view of the present invention;

FIG. 3 is a schematic view of the connection between the first electric putter and the image capturing device according to the present invention;

FIG. 4 is an enlarged view taken at A of FIG. 2 in accordance with the present invention;

FIG. 5 is an enlarged view taken at B of FIG. 2 in accordance with the present invention;

fig. 6 is an enlarged view of the invention at C in fig. 2.

The reference numbers in the figures illustrate:

1. an unmanned aerial vehicle body; 2. a support; 3. a stabilizing assembly; 301. a stabilizing base; 302. a first spring; 303. A support bar; 304. a resistance increasing pad; 305. a second spring; 306. a telescopic rod; 307. a first chute; 308. a first slider; 4. an equipment box; 5. a first electric push rod; 6. a fixing plate; 7. a first servo motor; 8. a gear; 9. rotating the rod; 10. a second electric push rod; 11. an image acquisition device; 12. a third electric push rod; 13. a reinforcement assembly; 1301. a reinforcing plate; 1302. a third spring; 1303. a pressure sensor; 1304. a second chute; 1305. a moving block; 1306. a second slider; 1307. a fourth spring; 1308. a sponge; 14. a threaded sleeve; 15. a second servo motor; 16. a screw rod; 17. a strip-shaped groove; 18. A movable plate.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

Referring to fig. 1-6, in the embodiment of the invention, an electric power inspection unmanned aerial vehicle based on intelligent image recognition comprises an unmanned aerial vehicle body 1 and a controller, wherein two supports 2 are fixedly connected to the bottom of the unmanned aerial vehicle body 1, stabilizing assemblies 3 are uniformly distributed on the bottoms of the supports 2, an equipment box 4 is embedded in the bottom of the unmanned aerial vehicle body 1, a first electric push rod 5 is fixedly connected to the inner top wall of the equipment box 4, a fixing plate 6 is fixedly connected to the bottom of the first electric push rod 5, a rotating rod 9 is rotatably connected to the bottom of the fixing plate 6, an image acquisition device 11 is hinged to the bottom of the rotating rod 9, a second electric push rod 10 is hinged to the surface of the rotating rod 9, the bottom of the second electric push rod 10 is hinged to the top of the image acquisition device 11, a first servo motor 7 is fixedly connected to the bottom of the fixing plate 6, and a gear 8 is fixedly connected to, two gears 8 are connected in an engaged manner, the inner wall two sides of the equipment box 4 are fixedly connected with third electric push rods 12, opposite sides of the two third electric push rods 12 are fixedly connected with reinforcing components 13, and input ends of the first servo motor 7, the first electric push rod 5, the second electric push rod 10 and the third electric push rods 12 are electrically connected with an output end of the controller.

Refer to fig. 6, the bar mouth has been seted up to the bottom of equipment box 4, the inside of equipment box 4 is seted up quantity and is two and the bar groove 17 that is linked together with the bar mouth, the inside swing joint in bar groove 17 has fly leaf 18, the bottom fixedly connected with second servo motor 15 of equipment box 4, the output shaft fixedly connected with of second servo motor 15 rotates the lead screw 16 of being connected with the equipment box 4 bottom, the surperficial threaded connection of lead screw 16 has quantity to be the thread bush 14 of two, 14 internal thread opposite directions of two thread bushes, the input of second servo motor 15 and the output electric connection of controller, can accomodate image acquisition device 11 when unmanned aerial vehicle body 1 rises and falls, avoid image acquisition device 11 to collide, increase the barrier propterty of device.

Referring to fig. 6, the bottom of the equipment box 4 is provided with two limiting ports communicated with the strip-shaped groove 17, the top of the thread bushing 14 is fixedly connected with a connecting rod, the connecting rod penetrates through the limiting ports and is fixedly connected with the movable plate 18, the thread bushing 14 can be limited by the limiting ports and the connecting rod, the thread bushing 14 is prevented from deviating when the movable plate 18 is driven to move, and normal operation of the device is guaranteed.

Referring to fig. 6, the reinforcing assembly 13 includes a reinforcing plate 1301, a moving block 1305 is slidably connected to an inner wall of the reinforcing plate 1301, a third spring 1302 is fixedly connected to one side of the inner wall of the reinforcing plate 1301, which is away from the moving block 1305, a pressure sensor 1303 is fixedly connected to one side of the third spring 1302, which is close to the moving block 1305, an output end of the pressure sensor 1303 is electrically connected to an input end of the controller, a sponge 1308 is arranged on one side of the reinforcing plate 1301, which is close to the moving block 1305, a second sliding groove 1304 is respectively formed in the top and the bottom of the inner wall of the reinforcing plate 1301, a second sliding block 1306 is fixedly connected to the top and the bottom of the moving block 1305, the second sliding block 1306 is located on the inner wall of the second sliding groove 1304, a fourth spring 1307 is fixedly connected to one side of the second sliding block 1306, which is away from the moving block 1305, the other end of the fourth spring 1307.

Through setting up reinforcing component 13, can consolidate image acquisition device 11, avoid unmanned aerial vehicle body 1 to take place to rock when taking off and land, and also can effectively ensure that image acquisition device 11 takes place to rock at the during operation, increase image acquisition device 11's stability can.

Referring to fig. 4, the stabilizing assembly 3 includes a stabilizing base 301, the stabilizing base 301 is slidably connected to the support 2, the bottom of the support 2 is fixedly connected to a first spring 302, the bottom of the first spring 302 is fixedly connected to the inner bottom wall of the stabilizing base 301, the bottom of the stabilizing base 301 is hinged to a support rod 303, the bottom of the support rod 303 is fixedly connected to a resistance increasing pad 304, the top of the support rod 303 is fixedly connected to a second spring 305, the top of the second spring 305 is fixedly connected to the bottom of the stabilizing base 301, a telescopic rod 306 located inside the second spring 305 is hinged between the support rod 303 and the stabilizing base 301, both sides of the support 2 are fixedly connected to a first sliding block 308, both sides of the inner wall of the stabilizing base 301 are provided with first sliding grooves 307, the first sliding block 308 is located on the inner wall of the first sliding grooves 307, by arranging the stabilizing assembly 3, the unmanned aerial vehicle body 1 can adapt to different ground surfaces when, a situation of pouring occurs.

The working principle of the invention is as follows: when the device is lifted to be inspected, the second servo motor 15 can be started through the controller, the second servo motor 15 rotates the screw rod 16 to rotate, so as to drive the threaded sleeve 14 on the surface of the screw rod 16 to rotate, the threaded sleeve 14 can be limited by arranging the limiting opening and the connecting rod to slide in the limiting opening, the deviation generated when the threaded sleeve 14 drives the movable plates 18 to move is avoided, the normal operation of the device is ensured, the two movable plates 18 are driven to simultaneously move outwards in the strip-shaped groove 17, the first electric push rod 5 is started through the controller, the first electric push rod 5 descends to drive the fixed plate 6 to move downwards, so as to reach the condition that the image acquisition device 11 extends to the outside of the equipment box 4, the reinforcing component 13 is started, the third electric push rod 12 is started through the controller, the third electric push rod 12 approaches to the image acquisition device 11, when the sponge 1308 in the reinforcing component 13 and the fixed plate 6 are contacted for a certain, the moving block 1305 moves in the opposite direction of the fixed plate 6 to extrude the pressure sensor 1303, the third spring 1302 bends under stress, the pressure sensor 1303 transmits a signal to the controller, the image acquisition device 11 can be reinforced by arranging the reinforcing component 13, the unmanned aerial vehicle body 1 is prevented from shaking during lifting, the image acquisition device 11 can be effectively ensured to shake during working, the stability of the image acquisition device 11 is improved, the controller stops the third electric push rod 12, whether to rotate or adjust the inclination angle of the image acquisition device 11 is determined according to actual conditions, if the inclination angle needs to be adjusted, the second electric push rod 10 can be directly started through the controller to adjust the angle, if the image acquisition device 11 needs to be rotated, the first servo motor 7 is started through the controller, and the first servo motor 7 rotates, the rotating rod 9 is driven to rotate through the mutual rotation between the two gears 8, so that the rotation of the image acquisition device 11 is realized, the rotation of the image acquisition device 11 can be realized through the arrangement of the first servo motor 7 and the gears 8, the direction and the angle of the image acquisition device 11 can be rotated according to actual conditions, so that the electric power inspection is more convenient, after the inspection is finished, data can be transmitted to a ground terminal, when the unmanned aerial vehicle body 1 needs to land, the reinforcing component 13 is stored through the controller by using the third electric push rod 12, the image acquisition device 11 is stored into the equipment box 4 by using the first electric push rod 5, the equipment box 4 is arranged, the second servo motor 15, the movable plate 18 and the first electric push rod 5 are mutually combined, the image acquisition device 11 can be stored when the unmanned aerial vehicle body 1 rises and falls, so as to avoid the collision of the image acquisition device 11, increase the barrier propterty of device, start second servo motor 15, the bottom of closing device case 4, increase in the stabilizing component 3 and hinder pad 304 at first with the ground contact, bracing piece 303 drives second spring 305 and takes place the bending, telescopic link 306 takes place corresponding change (telescopic link 306 is two bar poles and pegs graft each other and forms), stabilize seat 301 rebound, first slider 308 removes in first spout 307, and a plurality of stabilizing component 3 can realize the support at the ground height of difference, through setting up stabilizing component 3, make unmanned aerial vehicle body 1 can adapt to different ground when descending, avoid appearing support 2 and ground connection unstability, the condition of empting appears.

It should be noted that, in the above description, the unmanned aerial vehicle body 1, the first electric push rod 5, the first servo motor 7, the second electric push rod 10, the image acquisition device 11, the third electric push rod 12, the pressure sensor 1303, the second servo motor 15, etc. are all mature devices applied in the prior art, and a specific model can be selected according to actual needs, and meanwhile, the power supply of the unmanned aerial vehicle body 1, the first electric push rod 5, the first servo motor 7, the second electric push rod 10, the image acquisition device 11, the third electric push rod 12, the pressure sensor 1303, the second servo motor 15 can be supplied to a built-in power supply or a commercial power supply, and a specific power supply mode is selected according to circumstances, which is not described herein.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides an unmanned aerial vehicle is patrolled and examined to electric power based on intelligent image recognition, includes unmanned aerial vehicle body (1) and controller, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), wherein the number of the bottom of the unmanned aerial vehicle body is two, the bottom of the support (2) is provided with uniformly distributed stabilizing components (3), an equipment box (4) is embedded in the bottom of the unmanned aerial vehicle body (1), the inner top wall of the equipment box (4) is fixedly connected with a first electric push rod (5), the bottom of the first electric push rod (5) is fixedly connected with a fixed plate (6), the bottom of the fixed plate (6) is rotatably connected with a rotating rod (9), the bottom of the rotating rod (9) is hinged with an image acquisition device (11), the surface of the rotating rod (9) is hinged with a second electric push rod (10), the bottom of the second electric push rod (10) is hinged with the top of the image acquisition device (11), and the bottom of the fixed plate (6) is fixedly connected with a first servo motor (7), the equal fixedly connected with gear (8) in surface of the output shaft of first servo motor (7) and dwang (9), two gear (8) intermeshing connects, the input of first servo motor (7), first electric putter (5), second electric putter (10) all with the output electric connection of controller.

2. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 1, wherein: the inner wall both sides fixedly connected with third electric putter (12) of equipment box (4), two the equal fixedly connected with of opposite side of third electric putter (12) consolidates subassembly (13), the input of third electric putter (12) all with the output electric connection of controller.

3. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 2, wherein: the bottom of equipment box (4) has been seted up the bar mouth, bar groove (17) that quantity is two and is linked together with the bar mouth are seted up to the inside of equipment box (4), the inside swing joint in bar groove (17) has fly leaf (18), the bottom fixedly connected with second servo motor (15) of equipment box (4), the output shaft fixedly connected with of second servo motor (15) rotates lead screw (16) of being connected with equipment box (4) bottom, the surperficial threaded connection of lead screw (16) has thread bush (14) that quantity is two, two thread bush (14) inside screw thread opposite direction, the input of second servo motor (15) and the output electric connection of controller.

4. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 3, wherein: the bottom of the equipment box (4) is provided with two limiting openings communicated with the strip-shaped groove (17), the top of the threaded sleeve (14) is fixedly connected with a connecting rod, and the connecting rod penetrates through the limiting openings and is fixedly connected with the movable plate (18).

5. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 4, wherein: the reinforcing assembly (13) comprises a reinforcing plate (1301), a moving block (1305) is connected to the inner wall of the reinforcing plate (1301) in a sliding mode, a third spring (1302) is fixedly connected to one side, far away from the moving block (1305), of the inner wall of the reinforcing plate (1301), a pressure sensor (1303) is fixedly connected to one side, close to the moving block (1305), of the third spring (1302, the output end of the pressure sensor (1303) is electrically connected with the input end of a controller, and a sponge (1308) is arranged on one side, close to the moving block (1305), of the reinforcing plate (1301).

6. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 5, wherein: the reinforcing plate is characterized in that second sliding grooves (1304) are formed in the top and the bottom of the inner wall of the reinforcing plate (1301), second sliding blocks (1306) are fixedly connected to the top and the bottom of the moving block (1305), the second sliding blocks (1306) are located on the inner wall of the second sliding grooves (1304), a fourth spring (1307) is fixedly connected to one side, away from the moving block (1305), of the second sliding blocks (1306), and the other end of the fourth spring (1307) is fixedly connected with the inner wall of the second sliding grooves (1304).

7. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 6, wherein: stabilize subassembly (3) including stable seat (301), stable seat (301) and support (2) sliding connection, the first spring (302) of bottom fixedly connected with of support (2), the bottom of first spring (302) and the interior diapire fixed connection of stable seat (301), the bottom of stable seat (301) articulates there is bracing piece (303), the bottom fixedly connected with of bracing piece (303) increases and hinders pad (304).

8. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 7, wherein: the top fixedly connected with second spring (305) of bracing piece (303), the top of second spring (305) and the bottom fixed connection of stabilizing seat (301), it has telescopic link (306) that are located second spring (305) to articulate between bracing piece (303) and stabilizing seat (301).

9. The power inspection unmanned aerial vehicle based on intelligent image recognition of claim 8, wherein: the two sides of the support (2) are fixedly connected with first sliding blocks (308), first sliding grooves (307) are formed in the two sides of the inner wall of the stabilizing seat (301), and the first sliding blocks (308) are located on the inner wall of the first sliding grooves (307).