CN112977810A

CN112977810A - All-weather inspection unmanned aerial vehicle and operation method

Info

Publication number: CN112977810A
Application number: CN202110454044.1A
Authority: CN
Inventors: 常安; 南杰胤; 周文涛; 鲁轩; 姜明席; 胡青波; 李学刚; 王金富; 陈建民; 陈振辉; 付明; 刘瑞颖; 金岩; 丁丹阳; 安杨; 杜东苓; 武如娜
Original assignee: State Grid Tianjin Electric Power Co Ltd; State Grid Corp of China SGCC
Current assignee: State Grid Tianjin Electric Power Co Ltd; State Grid Corp of China SGCC
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-06-18

Abstract

The invention provides an all-weather inspection drone and an operation method, comprising: a body, a plurality of arms arranged on the body, a propeller assembly arranged on the arms, The landing gear assembly and the pan/tilt hanger arranged at the bottom of the main body, a plurality of the arms extend evenly around the main body, and adjacent arms are formed on both sides of the pan/tilt hanger escape space. The inspection drone and the operation method of the present invention avoid blocking the field of view of the camera equipment of the gimbal by rotating the landing gear to the avoidance space between the arms, which is convenient for the installation of various detection equipment, and has high dynamic performance and wind resistance performance. Strong, improve the adaptability of the multi-scenario load of the UAV, and can complete specific inspection tasks in multiple scenarios. work method in the case.

Description

All-weather inspection unmanned aerial vehicle and operation method

Technical Field

The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an all-weather inspection unmanned aerial vehicle and an operation method.

Background

The all-weather inspection unmanned aerial vehicle is an unmanned aerial vehicle, and compared with a manned aircraft, the all-weather inspection unmanned aerial vehicle has the advantages of small volume, low cost, convenience in use and the like. The unmanned aerial vehicle inspection system has the advantages that the all-weather unmanned aerial vehicle inspection typical type (including the open type cloud deck) is independently researched and developed, the rain resistance, wind resistance, dust resistance and other protection capabilities of the unmanned aerial vehicle are improved, the unmanned aerial vehicle inspection operation under severe environment is realized, the intelligent inspection of the unmanned aerial vehicle under different application scenes in the power industry is realized by carrying equipment loads such as visible light, thermal infrared and ultrasonic partial discharge detection, and the inspection quality is improved; all-weather patrol unmanned aerial vehicles are also widely used in civil applications such as aerial photography, agriculture, plant protection, power patrol, surveying and mapping, and the like.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide an all-weather inspection unmanned aerial vehicle and an operation method.

One embodiment of the present invention provides an all-weather inspection unmanned aerial vehicle, including: the aircraft comprises a body, a plurality of machine arms arranged on the body, propeller assemblies arranged on the machine arms, landing gear assemblies arranged on two sides of the body and a cradle head hanging frame arranged at the bottom of the body, wherein the plurality of machine arms uniformly extend towards the periphery of the body, and avoidance spaces positioned on two sides of the cradle head hanging frame are formed between every two adjacent machine arms;

the undercarriage component comprises two support frames which are rotatably connected with the body and a power component which drives the support frames to rotate, the two support frames are respectively positioned on two sides of the body, and when the all-weather inspection unmanned aerial vehicle takes off, the power component drives the support frames to rotate to the avoidance space;

the cloud deck is provided with a visible light sensor, an infrared sensor, an ultrasonic partial discharge detector, a searchlight and a night vision device.

Further, the power assembly comprises a supporting seat arranged on the body, a first motor rotationally connected with the supporting seat and a worm in transmission connection with the first motor;

the support frame with the supporting seat rotates to be connected, the support with worm swing joint, work as first motor drive the support frame is followed when the worm removes, the support frame winds the supporting seat rotates.

Furthermore, a clamping groove, a limiting piece movably arranged at the notch of the clamping groove, an inductor positioned in the clamping groove and a driving assembly connected with the inductor are arranged at the bottom of the horn, and the driving assembly is in transmission connection with the limiting piece;

the support frame comprises a cross rod and a connecting rod vertically arranged on the cross rod, and the connecting rod is rotatably connected with the body;

when the unmanned aerial vehicle takes off, the power assembly drives the support frame to rotate to the avoidance space, the end part of the cross rod is clamped into the clamping groove, the sensor detects the cross rod and sends a detection signal, the drive assembly receives the detection signal and drives the limiting part to move, and the limiting part limits the cross rod into the clamping groove. Comparatively abominable operational environment is patrolled and examined to transmission line, weather such as rainy day, strong wind, through being connected of support frame and horn, has improved unmanned aerial vehicle abominable operational environment's adaptability, has improved and has patrolled and examined the ability.

Furthermore, a battery is arranged at the bottom of the body, a controller is also arranged in the body, and the controller is connected with the undercarriage component;

when the all-weather inspection unmanned aerial vehicle descends, if the sensor detects that the cross rod is arranged in the clamping groove, the controller sends out an alarm signal. The problem that the all-weather inspection unmanned aerial vehicle is not put down the support frame to cause direct contact of the battery to a landing position is avoided, and the safety of the all-weather inspection unmanned aerial vehicle is greatly improved.

Further, the screw subassembly is in including setting up motor cabinet, the setting on the horn is in the second motor at motor cabinet top, with screw and the electronic governor that second motor transmission is connected, the motor cabinet is provided with the holding chamber that is located its inside, is located the recess at its top and is located cross the line hole in the recess, the holding chamber with cross the line hole intercommunication, the electronic governor sets up the holding intracavity, the bottom card of second motor is gone into in the recess, shield cross the line hole.

Furthermore, an elastic pad is arranged in the groove and between the second motor and the inner wall of the groove, and the elastic pad is arranged around the wire passing hole.

Further, one side of the motor base is provided with an opening communicated with the accommodating cavity;

the tail end of the horn extends into the containing cavity from the opening, a wire passing channel is arranged in the horn and is respectively communicated with the containing cavity and the body.

Further, the cloud platform includes cloud platform stores pylon, a plurality of first damping device, camera equipment and a plurality of second damping device, the cloud platform stores pylon passes through first damping device with body bottom is connected, be provided with a plurality of first installation departments and a plurality of second installation department on the cloud platform stores pylon, camera equipment passes through first installation department install in cloud platform stores pylon bottom, second damping device respectively with the second installation department with camera equipment connects.

Further, the side surface of the body is provided with an extension bracket extending away from the body;

the cradle head hanging frame is connected with the body through at least two first damping devices and connected with the extension support through at least two first damping devices.

Further, at least 2 first mounting parts are arranged on the holder rack;

the cloud platform still includes visible light sensor, infrared sensor and ultrasonic wave office and puts the detector, visible light sensor, infrared sensor and ultrasonic wave office put the detector and all pass through first installation department with the cloud platform stores pylon is connected, is convenient for utilize to carry on a plurality of functional module and patrol and examine in coordination the transmission line, provides powerful support to patrolling and examining to the refining under the application scenes such as transmission line.

One embodiment of the invention provides an all-weather inspection unmanned aerial vehicle operation method, which comprises the following steps: the unmanned aerial vehicle remote control system transmits a work task to the all-weather inspection unmanned aerial vehicle according to any one of claims 1 to 9 through a 4G/5G communication link, so as to control the all-weather inspection unmanned aerial vehicle to complete the work task, wherein the inspection task comprises visible light inspection, infrared inspection, partial discharge detection and the like. The flight system of the unmanned aerial vehicle is controlled through the control center, so that the unmanned aerial vehicle can finish the inspection task by self, namely the operation method of the unmanned aerial vehicle under various conditions of daytime simple weather, daytime complex weather, nighttime simple weather and nighttime complex weather. The method specifically comprises the following steps:

(1) visual flight at night. Including under the night condition, through unmanned aerial vehicle mount searchlight, carry out transmission line trouble line inspection, the special task of patrolling and examining such as shaft tower is refined and patrols and examines.

(2) Visual flight in low visibility scenes. Through unmanned aerial vehicle carry night vision camera lens, develop low visibility (foggy day, night etc.), unmanned aerial vehicle carry night vision camera lens carries out manual, or automatic visual flight. The particular flight may utilize manual maneuvering or may utilize a planned route. The method is used for executing special tasks such as fine inspection of the tower, control of hidden danger of a channel and the like.

(3) The special unmanned aerial vehicle detects and independently flies. Through unmanned aerial vehicle mount specialty inspection camera lens, including infrared camera lens, partial discharge lens, realize manual, or automatic special infrared, partial discharge detection operation.

(4) Visual flight under the severe condition of rainy days. The waterproof performance of the unmanned aerial vehicle reaches a higher level, and the unmanned aerial vehicle can automatically fly through manual control and air route planning, so that specific tasks under special severe weather, such as emergency troubleshooting, hidden danger management and control and the like, are realized.

(5) Visual flight in windy weather conditions. The wind resistance level of the unmanned aerial vehicle reaches a higher level, and the unmanned aerial vehicle can automatically fly through manual control and air route planning, so that operation in windy weather is realized.

(6) Normal flight operation during the daytime. The method comprises the steps of normally utilizing manual and autonomous flight methods in the daytime, and carrying out related operations of manual operation and control and air route planning.

Through the various operation methods, all-weather operation methods and scenes are formed. Such as: fault line-checking operation under the condition of heavy rain at night, special infrared temperature measurement detection under the condition of heavy wind at night, partial discharge detection under the condition of heavy wind at day and the like. The integral all-weather inspection operation method of the unmanned aerial vehicle is formed.

Compared with the prior art, the all-weather inspection unmanned aerial vehicle provided by the invention has the advantages that the undercarriage is rotated to the position between the machine arms, so that the view of the camera equipment of the cloud deck is prevented from being blocked, the flexibility of using the cloud deck is improved, the open cloud deck is formed, the carrying of various detection equipment is facilitated, the adaptability of multi-scene load of the unmanned aerial vehicle is improved, the inspection of the unmanned aerial vehicle under different demands is realized, and the powerful support is provided for fine inspection.

Wherein, specific beneficial effect: (1) the position of the axis of the second motor is not coincident with the position of the axis of the electronic speed regulator, the second motor and the electronic speed regulator are separated, the electronic speed regulator and the motor are separated, waterproof treatment is carried out, soft sealing silica gel is added at the position of the wire passing hole, the situation of water leakage cannot occur even if the wire rod is displaced in the flying process, and the waterproof capability of the aircraft is improved;

(2) between frames of an unmanned aerial vehicle body, a high-strength carbon fiber plate is used for filling a frame gap, an epoxy resin adhesive is used for sealing between a carbon fiber material and an aviation aluminum body frame, the sealing performance of a finishing structure is guaranteed, the body adopts a semi-closed structure, the leakage problem at an interface is solved, and the waterproof performance of the body part is improved;

(3) the propeller of the unmanned aerial vehicle is an integrated carbon fiber propeller, so that the integral power performance and wind resistance performance are improved;

(4) the interface and the electric control part of the battery are locally sealed, and the outer interface of the battery, the battery control switch, the battery detection module and the like are sealed by a shell of a semi-surrounding structure, so that the battery can obtain the maximum sealing effect while ensuring normal plugging and unplugging, and the flight safety under severe weather conditions is ensured;

(5) the holder fixing structure of the holder hanging frame is a 4-point type fixing structure, so that a good damping effect can be obtained under the condition that the load is increased by 50% -70%.

Drawings

FIG. 1 is a schematic diagram of a side of an all-weather inspection drone according to one embodiment of the present invention;

FIG. 2 is a schematic structural view of a landing gear assembly of the all weather inspection drone shown in FIG. 1;

FIG. 3 is a schematic view of a partial structure of a boom of an all-weather inspection drone according to another embodiment of the present invention;

FIG. 4 is a schematic diagram of the top of the all weather routing inspection drone according to another embodiment of the present invention;

FIG. 5 is a cross-sectional view of the propeller assembly of the all weather inspection drone shown in FIG. 1 with the propeller concealed;

FIG. 6 is a schematic structural diagram of a propeller assembly of the all-weather inspection drone shown in FIG. 1 when the propeller assembly is hidden;

FIG. 7 is a schematic structural diagram of the propeller assembly of the all-weather inspection drone shown in FIG. 1 when the propeller and the motor are hidden;

fig. 8 is a schematic structural view of a cradle head rack of the all-weather inspection unmanned aerial vehicle shown in fig. 1;

fig. 9 is a schematic structural diagram of the other side of the all-weather inspection unmanned aerial vehicle according to one embodiment of the invention.

Description of reference numerals:

10. a body; 12. an extension bracket; 20. a horn; 21. a card slot; 22. a limiting member; 30. a propeller assembly; 31. a motor base; 311. an accommodating cavity; 312. a wire passing hole; 313. a groove; 314. an opening; 32. a second motor; 33. an electronic governor; 40. a landing gear assembly; 41. a support frame; 411. a cross bar; 412. a connecting rod; 42. a power assembly; 421. a supporting seat; 422. a first motor; 423. a worm; 50. a cradle head hanging rack; 51. a first damping device; 52. a first mounting portion; 53. a second mounting portion; 60. a battery; 70. a protective shell.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

Please refer to fig. 1, which is a schematic structural diagram of one side of an all-weather inspection unmanned aerial vehicle according to an embodiment of the present invention, the all-weather inspection unmanned aerial vehicle includes: the body 10, a plurality of settings are in horn 20 on the body 10, setting are in screw subassembly 30 on the horn 20, setting are in undercarriage subassembly 40 and the setting of body 10 both sides are in the cloud platform of body 10 bottom, a plurality of horn 20 evenly towards the extension all around of body 10 is adjacent be formed with between the horn 20 and be located the dodge space of cloud platform both sides.

The undercarriage subassembly 40 include two with the body 10 rotates the support frame 41 of being connected and drive support frame 41 pivoted power component 42, two support frame 41 is located respectively the both sides of body 10, work as all weather is patrolled and examined unmanned aerial vehicle and is taken off the back, power component 42 drives support frame 41 rotates extremely in dodging the space. The length of the horn 20 is 290mm to 300mm, preferably 294.50 mm.

Please refer to fig. 2, which is a schematic structural diagram of the landing gear assembly of the all-weather inspection unmanned aerial vehicle shown in fig. 1, it should be noted that the power assembly 42 may select an appropriate design according to actual needs, and in some optional embodiments, the power assembly 42 includes a supporting seat 421 disposed on the body 10, a first motor 422 rotatably connected to the supporting seat 421, and a worm 423 drivingly connected to the first motor 422; the supporting frame 41 is rotatably connected with the supporting seat 421, the supporting frame is movably connected with the worm 423, and when the first motor 422 drives the supporting frame 41 to move along the worm 423, the supporting frame 41 rotates around the supporting seat 421. Of course, the support frame 41 can also be driven to rotate by the motor directly or through a transmission mechanism.

Referring to fig. 3 and 4, which are a partial schematic structural diagram of a horn of an all-weather inspection unmanned aerial vehicle according to another embodiment of the present invention and a schematic structural diagram of a top of an all-weather inspection unmanned aerial vehicle according to another embodiment of the present invention, in some optional embodiments, a clamping slot 21, a limiting member 22 movably disposed in a notch of the clamping slot 21, an inductor located in the clamping slot 21, and a driving assembly connected to the inductor are disposed at the bottom of the horn 20, the driving assembly is in transmission connection with the limiting member 22, in this embodiment, a sliding slot is disposed on an inner wall of the clamping slot 21, and the limiting member 22 is in a plate shape and moves along the sliding slot; the supporting frame 41 comprises a cross bar 411 and a connecting rod 412 vertically arranged on the cross bar 411, and the connecting rod 412 is rotatably connected with the body 10; when the unmanned aerial vehicle takes off, the power assembly 42 drives the support frame 41 to rotate to the inside of the avoidance space, the end part of the cross rod 411 is clamped into the clamping groove 21, the sensor detects the cross rod 411 and sends out a detection signal, the driving assembly receives the detection signal and drives the limiting part 22 to move, and the limiting part 22 limits the cross rod 411 to the inside of the clamping groove 21. Comparatively abominable operational environment is patrolled and examined to the transmission line, through being connected of support frame 41 and horn 20, has improved the stability between the horn 20. In addition, the limiting member 22 and the inner wall of the slot 21 may be provided with a shockproof pad, for example, a silica gel pad, and the shockproof pad abuts against the end of the cross bar 411, so that the cross bar 411 is more stable.

In some alternative embodiments, a battery 60 is disposed at the bottom of the body 10, and a controller is disposed in the body 10 and connected to the landing gear assembly 40; when unmanned aerial vehicle descends is patrolled and examined in all weather, if the inductor detects there is in the draw-in groove 21 horizontal pole 411, the controller sends alarm signal to keep the operation of screw subassembly 30, restrict and patrol and examine unmanned aerial vehicle in all weather, make and patrol and examine unmanned aerial vehicle unable descending in all weather. The problem that the battery 60 is in direct contact with the descending position due to the fact that the supporting frame 41 is not put down in the all-weather routing inspection unmanned aerial vehicle is avoided, and the safety of the all-weather routing inspection unmanned aerial vehicle is greatly improved. In addition, on the way of the all-weather inspection unmanned aerial vehicle flies, whether a cross rod 411 is arranged in the slot at one time can be detected through an inductor at a preset time interval, and if the inductor detects that the cross rod 411 does not exist in the slot 21, another alarm signal is sent out.

Referring to fig. 5 to 7, fig. 3 is a cross-sectional view of the propeller assembly of the all-weather inspection unmanned aerial vehicle shown in fig. 1 when the propeller is hidden, fig. 4 is a schematic structural view of the propeller assembly of the all-weather inspection unmanned aerial vehicle shown in fig. 1 when the propeller is hidden, fig. 7 is a schematic structural view of the propeller assembly of the all-weather inspection unmanned aerial vehicle shown in fig. 1 when the propeller and the motor are hidden, in some alternative embodiments, the propeller assembly 30 includes a motor base 31 disposed on the boom 20, a second motor 32 disposed on the top of the motor base 31, a propeller in transmission connection with the second motor 32, and an electronic governor 33, the motor base 31 is provided with a receiving cavity 311 located inside and a wire passing hole 312 located on the top thereof, the receiving cavity 311 is communicated with the wire passing hole 312, the electronic governor 33 is disposed in the receiving cavity 311, the second motor 32 shields the wire passing hole 312, water is prevented from entering the accommodating cavity 311 through the wire passing hole 312 by the motor, and the propeller is preferably an integrated carbon fiber propeller. Preferably, the projections of the motor and the electronic governor 33 in the vertical direction are offset from each other. In addition, a waterproof gasket may be disposed in the wire passing hole 312.

In some optional embodiments, a groove 313 is provided at the top of the motor base 31, the wire passing hole 312 is located in the groove 313, and the bottom of the second motor 32 is snapped into the groove 313, which facilitates stable placement of the second motor 32.

In some optional embodiments, an elastic pad is disposed in the groove 313 and located between the second motor 32 and the inner wall of the groove 313, the elastic pad is disposed around the wire passing hole 312, and when the all-weather inspection unmanned aerial vehicle flies, the elastic pad vibrates to cause the second motor 32 to shake, the second motor 32 shakes to possibly generate a gap to allow water to enter the accommodating cavity 311, and the elastic pad can complement the gap. In addition, the elastic pad can adopt a silica gel pad, a rubber pad and the like.

In some optional embodiments, an opening 314 communicating with the accommodating cavity 311 is provided at one side of the motor base 31; the end of horn 20 is followed opening 314 stretches into in the holding chamber 311, be provided with the line passageway in the horn 20, the line passageway pass respectively with holding chamber 311 with body 10 intercommunication, the line passageway is favorable to crossing the line, alleviates simultaneously and patrols and examines unmanned aerial vehicle's weight in all weather.

Please refer to fig. 8, which is a schematic structural diagram of the cradle head rack of the all-weather inspection unmanned aerial vehicle shown in fig. 1, in some optional embodiments, the cradle head includes a cradle head rack 50, a plurality of first damping devices 51, a camera device and a plurality of second damping devices, the cradle head rack 50 is connected to the bottom of the body 10 through the first damping devices 51, the cradle head rack 50 is provided with a plurality of first installation parts 52 and a plurality of second installation parts 53, the camera device is installed at the bottom of the cradle head rack 50 through the first installation parts 52, and the second damping devices are respectively connected to the second installation parts 53 and the camera device.

It should be noted that the first damping device 51 and the second damping device may be designed appropriately according to actual needs, for example, damping balls are used.

It should be noted that the number of the first shock absorbing devices 51 and the second shock absorbing devices can be selected according to actual needs, for example, in some alternative embodiments, the side of the body 10 is provided with an extension bracket 12 extending away from the body 10; the cradle head suspension rack 50 is connected to the body 10 through at least two first damping devices 51, and is connected to the extension bracket 12 through at least two first damping devices 51, so that the cradle head suspension rack 50 is more stable due to four-point support.

In some alternative embodiments, the pan/tilt hanger 50 has at least 2 first mounting portions 52; the cloud platform still includes visible light sensor, infrared sensor, ultrasonic wave partial discharge detector, searchlight and night-time vision device, visible light sensor, infrared sensor ultrasonic wave partial discharge detector, searchlight and night-time vision device all pass through first installation department 52 with cloud platform stores pylon 50 is connected, is convenient for utilize to carry on a plurality of functional module and patrol and examine in coordination the transmission line, provides powerful support to the fine-grained patrol and examine under the application scenes such as transmission line.

Referring to fig. 9, which is a schematic structural diagram of another side of the all-weather inspection unmanned aerial vehicle according to an embodiment of the present invention, in some optional embodiments, a battery 60 and a protective housing 70 are disposed at the bottom of the body 10, the battery 60 is respectively connected to the power assembly 42 and the propeller assembly 30, a battery 60 interface, an electronic control assembly, and a locking assembly are disposed on the battery 60, the protective housing 70 is connected to the battery 60 and movably covered on the battery 60 interface and the electronic control assembly, and the locking assembly is configured to lock the protective housing 70; a controller is also provided on the body 10, the controller being connected to the locking assembly and the landing gear assembly 40; when the all-weather patrol unmanned aerial vehicle takes off, the controller sends a control signal to the locking assembly, and the locking assembly locks the protective shell 70; when the all-weather inspection unmanned aerial vehicle descends, the controller sends an unlocking signal to the locking assembly, and the locking assembly releases the locking of the protective shell 70. In addition, when unmanned aerial vehicle descends is patrolled and examined in all weather, the accessible the inductor detects whether exist in the draw-in groove 21 horizontal pole 411, if exist, then the controller sends alarm signal to keep the locking subassembly is right the locking of protective housing 70 avoids battery 60 to descend when opening protective housing 70, improves the security.

It should be noted that the locking assembly may be designed appropriately according to actual needs, for example, a limiting hole is formed in the protective shell 70, the locking assembly is a telescopic rod, when the all-weather inspection unmanned aerial vehicle takes off, the controller sends a control signal to the locking assembly, and the telescopic rod is inserted into the limiting hole to limit the protective shell 70 from being opened; when the all-weather patrol inspection unmanned aerial vehicle takes off, the controller sends an unlocking signal to the locking assembly, the telescopic rod leaves the limiting hole, and the protective shell 70 can be opened as required. Not only can improve unmanned aerial vehicle's intellectuality like this, also can prevent that support frame 41 from not descending just can open protective housing 70 at unmanned aerial vehicle.

In addition, accessible unmanned aerial vehicle management and control platform issues the controller and patrols and examines the task, also can patrol and examine unmanned aerial vehicle's flight state and unmanned aerial vehicle through the controller and patrol and examine real-time image and schedule, control and send for unmanned aerial vehicle management and control platform, improves the unmanned aerial vehicle and independently patrols and examines the efficiency of operation, reduces artificial intervention, reduces unmanned aerial vehicle access threshold.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An all-weather inspection drone, characterized in that it comprises: a body, a plurality of arms arranged on the body, a propeller assembly arranged on the arms, the landing gear assembly and the pan/tilt set at the bottom of the body, a plurality of the arms extend evenly around the body, and avoidance spaces on both sides of the pan/tilt are formed between the adjacent arms;

The landing gear assembly includes two support frames that are rotatably connected to the body and a power assembly that drives the support frames to rotate. The two support frames are respectively located on both sides of the body. After the man-machine takes off, the power assembly drives the support frame to rotate into the avoidance space;

Wherein, a visible light sensor, an infrared sensor, an ultrasonic partial discharge detector, a searchlight and a night vision device are arranged on the pan/tilt.

2 . The all-weather inspection drone according to claim 1 , wherein the power component comprises a support seat arranged on the body, a first motor rotatably connected with the support seat, and a first motor rotatably connected with the support seat. 3 . a worm driven by the first motor;

The support frame is rotatably connected with the support seat, the bracket is movably connected with the worm, and when the first motor drives the support frame to move along the worm, the support frame rotates around the support seat .

3. The all-weather inspection drone according to claim 1, characterized in that: the bottom of the arm is provided with a card slot, a limiter movably arranged at the slot of the card slot, located in the card slot an inductor in the slot and a drive assembly connected with the inductor, and the drive assembly is in driving connection with the limiting member;

The support frame includes a cross bar and a connecting rod vertically arranged on the cross bar, and the connecting rod is rotatably connected with the body;

When the all-weather inspection drone takes off, the power component drives the support frame to rotate into the avoidance space, the end of the crossbar is clamped into the slot, and the sensor detects the The horizontal bar also sends out a detection signal, the driving component receives the detection signal, and drives the limiter to move, and the limiter restricts the horizontal bar in the card slot.

4 . The all-weather inspection drone according to claim 3 , wherein a battery is provided at the bottom of the main body, a controller is also provided in the main body, and the controller and the landing gear assembly are arranged in the bottom of the main body. 5 . connect;

When the all-weather inspection drone lands, if the sensor detects that the horizontal bar exists in the card slot, the controller sends an alarm signal.

5. The all-weather inspection drone according to any one of claims 1 to 4, wherein the propeller assembly comprises a motor seat arranged on the arm and arranged on the top of the motor seat The second motor, the propeller connected to the second motor, and the electronic governor, the motor seat is provided with a accommodating cavity located inside, a groove located at the top of the motor seat, and a passage located in the groove. A wire hole, the accommodating cavity is communicated with the wire-passing hole, the electronic governor is arranged in the accommodating cavity, and the bottom of the second motor is snapped into the groove to shield the pass-through hole. wire hole.

6 . The all-weather inspection drone according to claim 5 , wherein an elastic pad is arranged in the groove between the second motor and the inner wall of the groove, and the elastic Pads are arranged around the vias.

7 . The all-weather inspection drone according to claim 5 , wherein: one side of the motor base is provided with an opening that communicates with the accommodating cavity; 8 .

The end of the arm extends into the accommodating cavity from the opening, and a wire passage is arranged in the arm, and the wire passage communicates with the accommodating cavity and the body respectively.

8. The all-weather inspection drone according to any one of claims 1 to 4, wherein the pan/tilt comprises a pan/tilt hanger, several first shock absorbing devices, camera equipment and several second A damping device, the pan-tilt hanger is connected to the bottom of the body through the first damping device, and the pan-tilt hanger is provided with a number of first mounting parts and a number of second mounting parts, the camera equipment The first mounting portion is mounted on the bottom of the pan/tilt hanger, and the second shock absorbing device is respectively connected to the second mounting portion and the camera device.

9 . The all-weather inspection drone according to claim 8 , wherein: an extension bracket extending away from the main body is provided on the side of the main body; 10 .

The pan/tilt hanger is connected to the body through at least two of the first shock absorbing devices, and is connected to the extension bracket through at least two of the first shock absorbing devices.

10. An all-weather inspection drone operation method, characterized in that it comprises: the upper computer transmits an operation task to the all-weather inspection drone according to any one of claims 1 to 9 through a communication module, thereby controlling the operation of the drone. The all-weather inspection drone is used to complete the operation task.