CN113102352A - Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle - Google Patents
Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle Download PDFInfo
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- CN113102352A CN113102352A CN202110406743.9A CN202110406743A CN113102352A CN 113102352 A CN113102352 A CN 113102352A CN 202110406743 A CN202110406743 A CN 202110406743A CN 113102352 A CN113102352 A CN 113102352A
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- 238000004140 cleaning Methods 0.000 claims abstract description 73
- 238000005507 spraying Methods 0.000 claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 238000009413 insulation Methods 0.000 claims description 10
- 238000013500 data storage Methods 0.000 claims description 9
- 239000012212 insulator Substances 0.000 claims description 9
- 239000012459 cleaning agent Substances 0.000 claims description 5
- 239000003595 mist Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000003373 anti-fouling effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The application discloses electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle, this system includes: the device comprises a control module, an image transmission module, a steering module, a spraying module and a camera module; the camera module is used for acquiring images; the spraying module is used for cleaning; the steering module is used for adjusting the orientation of the spraying module and the camera module; the image transmission module is used for transmitting the image acquired by the camera module to the control module; the control module is used for judging whether the spraying module is aligned to the target area or not according to the received image; if not, controlling the steering module to adjust the orientation of the spraying module and the direction of the camera module; if yes, judging whether the target area needs to be cleaned; and if the cleaning is needed, starting the spraying module. Through setting up control module and image transmission module, can be real-time the picture that the module of making a video recording shot, and then spray through the program control that control module set up the module and spray, make the circuit clean the work and do not receive the electric network operation mode influence.
Description
Technical Field
The application relates to the technical field of power line pollution prevention, and especially relates to an unmanned aerial vehicle electrified cleaning insulation subsystem and an unmanned aerial vehicle for a power line.
Background
The antifouling work of the power line is an important component in the daily operation and maintenance work of the power line. The power transmission line operation department can clean the circuits in the heavily-polluted areas in a power failure mode every year, and the circuits are cleaned in a manual cleaning mode, so that the power transmission line is prevented from causing power grid faults due to pollution.
The cleaning mode needs the line to be switched to a maintenance state to cooperate with cleaning work, and is greatly influenced by the operation mode of a power grid; due to the risk of the power grid, partial important lines can not be maintained frequently, so that great potential safety hazards are caused; meanwhile, the cleaning mode needs workers to ascend and go out, certain risks of falling from high positions of the workers and injuring the workers by induction electricity exist, and the manual cleaning work efficiency is low.
Disclosure of Invention
In view of this, the utility model aims at providing an insulating subsystem and unmanned aerial vehicle are washd in electrified of power line unmanned aerial vehicle for solve artifical and clean the problem that has the potential safety hazard and efficiency is lower.
For reaching above-mentioned technical purpose, this application first aspect provides an electrified insulator system that washs of power line unmanned aerial vehicle, is applied to unmanned aerial vehicle and goes up, includes: the device comprises a control module, an image transmission module, a steering module, a spraying module and a camera module;
the camera module is used for acquiring images;
the spraying module is used for cleaning;
the steering module is used for adjusting the orientation of the spraying module and the camera module;
the image transmission module is used for transmitting the image acquired by the camera module to the control module;
the control module is used for judging whether the spraying module is aligned to a target area or not according to the received image; if not, controlling the steering module to adjust the orientation of the spraying module and the orientation of the camera module; if yes, judging whether the target area needs to be cleaned; and if the cleaning is needed, starting the spraying module.
Further, the system also comprises a data storage module;
the data storage module is used for storing pre-stored images and images acquired by the camera module;
the control module is also used for comparing the received image with the pre-stored image to judge whether the cleaning is needed or not, and comparing the cleaned image with the image before the cleaning to judge whether the cleaning effect meets the preset requirement or not.
Further, the spraying module comprises a multipurpose spray head;
the control module is also used for selecting a spraying mode of the spraying module according to the received image before starting the spraying module;
the spraying mode at least comprises a water mist mode, a high pressure mode and an air flow mode.
Furthermore, the spraying module also comprises a water tank, a cleaning agent tank, a water pump and an air pump;
the water tank, the cleaning agent tank and the air pump are all connected with the multipurpose spray head;
the water pump is connected with the water tank.
Further, the control module is configured to perform the steps of:
s1, acquiring a first image, wherein the first image is an image before a power line is cleaned;
s2, comparing the first image with the preset image, and judging whether the power line needs to be cleaned;
s3, if the judgment result is that the power line needs to be cleaned, selecting a spraying mode of a spraying module according to the first image, and controlling the spraying module to clean the power line;
s4, after the cleaning is finished, obtaining a second image, wherein the second image is an image obtained after the power line is cleaned;
and S5, comparing the second image with the first image, and judging whether the power line cleaning meets the preset requirement.
Further, the step S5 is followed by:
and S6, if the judgment result is that the circuit cleaning does not meet the preset requirement, determining the target position according to the second image, and controlling the spraying module to clean the target position.
Further, the steering module specifically comprises a transverse deflection steering engine and a longitudinal deflection steering engine.
The application provides an unmanned aerial vehicle in a second aspect, which comprises the electrified cleaning insulating subsystem of the power line unmanned aerial vehicle and an unmanned aerial vehicle body;
electrified insulator system that washs of power line unmanned aerial vehicle includes: the main frame, the control module, the image transmission module, the steering module, the spraying module and the camera module;
the image transmission module, the steering module, the spraying module and the camera module are all arranged on the main frame;
the main frame is installed on the unmanned aerial vehicle fuselage.
Furthermore, a connecting pipe is arranged on the main frame;
the unmanned aerial vehicle body is provided with an installation groove for installing the connecting pipe;
the connecting pipe is fixed on the mounting groove through a screw.
According to the technical scheme, the application provides an insulating subsystem and unmanned aerial vehicle are washd in electrified of power line unmanned aerial vehicle. This system is applied to on unmanned aerial vehicle, includes: the device comprises a control module, an image transmission module, a steering module, a spraying module and a camera module; the camera module is used for acquiring images; the spraying module is used for cleaning; the steering module is used for adjusting the orientation of the spraying module and the camera module; the image transmission module is used for transmitting the image acquired by the camera module to the control module; the control module is used for judging whether the spraying module is aligned to a target area or not according to the received image; if not, controlling the steering module to adjust the orientation of the spraying module and the orientation of the camera module; if yes, judging whether the target area needs to be cleaned; and if the cleaning is needed, starting the spraying module. Through setting up control module and image transmission module, can be real-time the picture that the module of making a video recording was shot of acquireing, and then spray the module through the program control that control module set up and spray, make the circuit clean work not influenced by electric network operation mode, can alleviate the working strength of operation greatly, improve work efficiency, ensure equipment and personnel's security, the guarantee throws the safe and reliable operation of circuit.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic diagram of a spraying module and a camera module of an unmanned aerial vehicle for cleaning an insulation subsystem in an electrified manner in an electric power line provided by an embodiment of the present application;
fig. 2 is a side view of a spraying module and a camera module of an unmanned aerial vehicle electrified cleaning insulation subsystem for an electric power line provided in the embodiment of the present application;
fig. 3 is a schematic diagram of an overall result of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a flowchart illustrating that the unmanned aerial vehicle live cleaning insulator system for the power line performs automatic cleaning according to the embodiment of the present application;
in the figure: 1. a multi-purpose spray head; 2. mounting grooves; 3. a longitudinal deflection steering engine; 4. a transverse deflection steering engine; 5. a camera is provided.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present application. 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 scope of protection claimed herein.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The application discloses insulating subsystem and unmanned aerial vehicle are washd in electrified of power line unmanned aerial vehicle.
Referring to fig. 1 to fig. 2, a power line unmanned aerial vehicle live cleaning insulator system provided in an embodiment of the present application is applied to an unmanned aerial vehicle, and includes: the device comprises a control module, an image transmission module, a steering module, a spraying module and a camera module; the camera module is used for acquiring images; the spraying module is used for cleaning; the steering module is used for adjusting the orientation of the spraying module and the camera module; the image transmission module is used for transmitting the image acquired by the camera module to the control module; the control module is used for judging whether the spraying module is aligned to a target area or not according to the received image; if not, controlling the steering module to adjust the orientation of the spraying module and the orientation of the camera module; if yes, judging whether the target area needs to be cleaned; and if the cleaning is needed, starting the spraying module.
Specifically, the spray module includes a multi-purpose nozzle 1, a water tank (not shown), a cleaning agent tank (not shown), a water pump (not shown), and an air pump (not shown). The multipurpose nozzle 1 is internally provided with spray holes, and the spray mode can be adjusted by changing the shapes of the spray holes and the pressure of the water pump. Such as a high pressure mode when the pressure of the water pump is increased, a water mist mode when the spray holes are formed by a plurality of dense small holes, and an air flow mode directly connected with the air pump. The air flow mode is set, so that the system can be suitable for other hot-line work points such as hot-line spraying PRTV or cleaning of high-altitude glass curtain walls.
The steering module comprises a transverse deflection steering engine 4 and a longitudinal deflection steering engine 3, the multipurpose spray head 1 is installed on the longitudinal deflection steering engine 3, and the longitudinal deflection steering engine 3 is installed on the transverse deflection steering engine 4.
The camera module comprises a camera 5 and an anti-shake platform and is used for acquiring images or images; the camera 5 and the multipurpose nozzle 1 can be arranged on the longitudinal deflection steering engine 3 together, so that the spraying module and the camera module can be controlled simultaneously through the same steering module; the camera module may be separately mounted on another steering device and controlled by the other steering device.
The control module can be a controller arranged on the unmanned aerial vehicle, and can also be a control terminal arranged on the ground. After the control module obtains the image or the image shot by the camera 5 through the image transmission module, the control module may manually perform subsequent operation judgment according to the image or the image, or may perform subsequent cleaning operation through a program arranged in the control module.
It should be noted that, in this embodiment, the control module is a ground control terminal, and controls the steering module and the spraying module through the acquired image and the internal database.
Further, the system also comprises a data storage module; the data storage module is used for storing a pre-stored image and an image acquired by the camera module; the control module is also used for comparing the received image with the pre-stored image, judging whether the cleaning is needed, comparing the cleaned image with the image before the cleaning, and judging whether the cleaning effect meets the preset requirement.
Referring to fig. 4, in the present embodiment, the method for executing automatic cleaning by the control module includes the following steps:
s0. judging whether the spray module faces the target area, if not, controlling the steering module to adjust the direction of the spray module and the camera module, if yes, executing step S1;
specifically, whether the spraying module faces the target area or not can be judged by acquiring a target area picture through the camera module and comparing the target area picture with a preset image. The system can be applied to lines which are regularly patrolled and examined, the images of the target position lines are stored in the internal data storage module, the control module compares the acquired images with the internally stored images, and whether the orientation of the spraying module and the camera module is accurate or not is automatically judged.
S1, acquiring a first image, wherein the first image is an image before a power line is cleaned;
s2, comparing the first image with the preset image, and judging whether the power line needs to be cleaned;
specifically, when the location of the task executed by the system is the first time, the orientation of the target area and the need of cleaning can be judged through artificial auxiliary judgment, and the image is simultaneously acquired as the preset image of the next task, so that an automatic judgment basis is provided for the next task.
The preset image may be an image stored after the cleaning result is judged to meet the task requirement after the cleaning is completed at the same region position on the target region.
If the judgment result is that the cleaning is not needed, the task is ended.
S3, if the judgment result is that the power line needs to be cleaned, controlling the spraying module to clean the power line;
specifically, before step S0 is executed, the control module may preset a spraying mode suitable for the target area, for example, if the charged area is only suitable for the air spraying mode, the spraying module starts the air spraying mode to perform a cleaning operation after the determination result is that the cleaning operation is required.
S4, after cleaning is finished, obtaining a second image, wherein the second image is an image obtained after the power line is cleaned for one time;
and S5, comparing the second image with the preset image, and judging whether the power line cleaning meets the preset requirement.
Specifically, if the judgment result is that the preset requirement is met, the task is ended.
And S6, if the judgment result is that the circuit cleaning does not meet the preset requirement, determining the stubborn position according to the second image, and controlling the spraying module to perform secondary cleaning on the stubborn position.
The stubborn position is obtained by comparing the second image with a preset image, and specifically is a position where dirt is gathered and cannot be removed by one-time cleaning. Correspondingly, the selection of the spraying mode is further included before the secondary cleaning, and if the task is in an area which allows water washing, such as a non-electrified area, the spraying module can be adjusted to clean through a high-pressure mode and a water mist mode.
S7, after the secondary cleaning is finished, acquiring a third image, wherein the second image is an image obtained after the secondary cleaning of the power line;
s8, comparing the third image with the preset image, judging whether the power line cleaning meets the preset requirement, and if so, ending the task; and if the preset requirements are not met, recording the task data and storing the task data to the data storage module.
Specifically, after the task is finished, the operator on the ground can judge the task completion condition through the first image, the second image and the third image. After the secondary cleaning, the control module judges the task which does not meet the preset requirements, the operator can extract and compare the first image, the second image and the third image, and then the unmanned aerial vehicle is controlled to carry the system for cleaning through manual operation and other modes. The mode of artifical wiping is compared to whole, the effectual cleaning efficiency that has improved and avoided the artifical electric shock or the eminence risk of falling that cleans. Correspondingly, when the system is operated manually, the module can be used for mobile devices such as mobile phones, tablet computers and VR glasses, so that the system is controlled to have a good human-computer interaction interface, and the operation efficiency and the construction safety are effectively improved.
The above is the first embodiment provided in the present application, and the following is the second embodiment provided in the present application, please refer to fig. 1 to 3 specifically.
The application provides an unmanned aerial vehicle in a second aspect, which comprises the electrified cleaning insulating subsystem of the power line unmanned aerial vehicle and an unmanned aerial vehicle body;
electrified insulator system that washs of power line unmanned aerial vehicle includes: the main frame, the control module, the image transmission module, the steering module, the spraying module and the camera module; the image transmission module, the steering module, the spraying module and the camera module are all arranged on a main frame (not shown); the body frame is installed on the unmanned aerial vehicle fuselage.
Further, the main frame is provided with a connecting pipe (not shown); the unmanned aerial vehicle body is provided with a mounting groove 2 for mounting a connecting pipe; the connecting pipe is fixed on the mounting groove 2 through screws.
Particularly, the scheme can realize that the unmanned aerial vehicle carries on high-efficient water-soluble cleaning liquid to carry out high-efficient, accurate electrified washing to the insulator through the customization assembly.
Although the present invention has been described in detail with reference to examples, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (10)
1. The utility model provides an electrified insulator system that washs of power line unmanned aerial vehicle, is applied to unmanned aerial vehicle and goes up, a serial communication port, includes: the device comprises a control module, an image transmission module, a steering module, a spraying module and a camera module;
the camera module is used for acquiring images;
the spraying module is used for cleaning;
the steering module is used for adjusting the orientation of the spraying module and the camera module;
the image transmission module is used for transmitting the image acquired by the camera module to the control module;
the control module is used for judging whether the spraying module is aligned to a target area or not according to the received image; if not, controlling the steering module to adjust the orientation of the spraying module and the orientation of the camera module; if yes, judging whether the target area needs to be cleaned; and if the cleaning is needed, starting the spraying module.
2. The power line unmanned aerial vehicle electrified cleaning insulation subsystem of claim 1, further comprising a data storage module;
the data storage module is used for storing pre-stored images and images acquired by the camera module;
the control module is also used for comparing the received image with the pre-stored image to judge whether the cleaning is needed or not, and comparing the cleaned image with the image before the cleaning to judge whether the cleaning effect meets the preset requirement or not.
3. The power line unmanned aerial vehicle electrified cleaning insulation subsystem according to claim 1, wherein the steering module specifically comprises a transverse deflection steering engine and a longitudinal deflection steering engine.
4. The power line drone live cleaning insulation subsystem of claim 1,
the spraying module comprises a multi-purpose spray head;
the multi-purpose spray head comprises a plurality of spray modes;
the control module is also used for selecting a spraying mode of the spraying module according to the received image before starting the spraying module;
the spraying mode at least comprises a water mist mode, a high pressure mode and an air flow mode.
5. The power line unmanned aerial vehicle electrified cleaning insulation subsystem according to claim 4, wherein the spraying module further comprises a water tank, a cleaning agent tank, a water pump and an air pump;
the water tank, the cleaning agent tank and the air pump are all connected with the multipurpose spray head;
the water pump is connected with the water tank.
6. The power line drone live cleaning insulation subsystem according to claim 2, wherein the control module is configured to perform the steps of:
s1, acquiring a first image, wherein the first image is an image before a power line is cleaned;
s2, comparing the first image with a preset image, and judging whether the power line needs to be cleaned;
s3, if the judgment result is that the power line needs to be cleaned, controlling the spraying module to clean the power line for the first time;
s4, after the primary cleaning is finished, acquiring a second image, wherein the second image is an image obtained after the primary cleaning of the power line;
and S5, comparing the second image with the first image, and judging whether the primary cleaning result meets the preset requirement.
7. The power line drone electrified cleaning insulation subsystem according to claim 6, further comprising, before step S1:
s0., judging whether the spray module and the camera module face the target area, if not, controlling the steering module to adjust the direction of the spray module and the camera module, if yes, executing step S1.
8. The power line drone electrified cleaning insulator subsystem according to claim 6, further comprising after step S5:
s6, if the result of the primary cleaning does not meet the preset requirement, determining a stubborn position according to the second image, and controlling the spraying module to perform secondary cleaning on the stubborn position;
s7, acquiring a third image after the secondary cleaning is finished, wherein the second image is an image obtained after the secondary cleaning of the power line;
s8, comparing the third image with the preset image, and judging whether the power line cleaning meets the preset requirement; and if the preset requirements are not met, recording the task data and storing the task data to the data storage module.
9. An unmanned aerial vehicle comprising the power line unmanned aerial vehicle live cleaning insulation subsystem of any one of claims 1 to 8 and an unmanned aerial vehicle fuselage;
electrified insulator system that washs of power line unmanned aerial vehicle includes: the main frame, the control module, the image transmission module, the steering module, the spraying module and the camera module;
the image transmission module, the steering module, the spraying module and the camera module are all arranged on the main frame;
the main frame is installed on the unmanned aerial vehicle fuselage.
10. The unmanned aerial vehicle of claim 9, wherein the main frame is provided with a connecting pipe;
the unmanned aerial vehicle body is provided with an installation groove for installing the connecting pipe;
the connecting pipe is fixed on the mounting groove through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110406743.9A CN113102352A (en) | 2021-04-15 | 2021-04-15 | Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110406743.9A CN113102352A (en) | 2021-04-15 | 2021-04-15 | Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN113102352A true CN113102352A (en) | 2021-07-13 |
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| CN202110406743.9A Pending CN113102352A (en) | 2021-04-15 | 2021-04-15 | Electrified insulating subsystem and unmanned aerial vehicle that washs of power line unmanned aerial vehicle |
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| CN112588678A (en) * | 2020-12-12 | 2021-04-02 | 国网辽宁省电力有限公司铁岭供电公司 | Electrified belt cleaning device of electric power system network and information equipment |
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2021
- 2021-04-15 CN CN202110406743.9A patent/CN113102352A/en active Pending
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| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
| KR20180133190A (en) * | 2017-06-05 | 2018-12-13 | 김재윤 | Unmaned aerial vehicle for washing insulator |
| CN108339787A (en) * | 2018-01-09 | 2018-07-31 | 成蜀电力集团有限公司 | A kind of device and method of equipotential unmanned plane electrification cleaning insulator |
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Application publication date: 20210713 |