CN113479325A - Automatic control method of unmanned aerial vehicle - Google Patents
Automatic control method of unmanned aerial vehicle Download PDFInfo
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- CN113479325A CN113479325A CN202110780058.2A CN202110780058A CN113479325A CN 113479325 A CN113479325 A CN 113479325A CN 202110780058 A CN202110780058 A CN 202110780058A CN 113479325 A CN113479325 A CN 113479325A
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 235000005770 birds nest Nutrition 0.000 claims abstract description 53
- 235000005765 wild carrot Nutrition 0.000 claims abstract description 53
- 238000004140 cleaning Methods 0.000 claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 239000012212 insulator Substances 0.000 claims abstract description 21
- 210000003608 fece Anatomy 0.000 claims abstract description 16
- 230000009194 climbing Effects 0.000 claims abstract description 6
- 244000309464 bull Species 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 11
- 244000208734 Pisonia aculeata Species 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 2
- 244000000626 Daucus carota Species 0.000 abstract description 18
- 239000010871 livestock manure Substances 0.000 abstract description 9
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an unmanned aerial vehicle for monitoring, overhauling and maintaining a power transmission line and a method for automatically controlling the unmanned aerial vehicle to monitor, overhaul and maintain the power transmission line, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a monitoring mechanism is fixedly installed at the front end of the unmanned aerial vehicle body, a connecting mechanism is fixedly installed at the lower end of the unmanned aerial vehicle body, the lower end of the unmanned aerial vehicle body is respectively and movably connected with a nest removing mechanism and a cleaning mechanism through the connecting mechanism, the monitoring mechanism comprises a first fixing box, a monitoring assembly and a rotating assembly, and the first fixing box is fixedly installed on the side wall of the unmanned aerial vehicle body; the unmanned aerial vehicle body can conveniently monitor transmission line through monitoring mechanism, when having the bird's nest on the discovery shaft tower, can remove the bird's nest through removing nest mechanism to bring back ground, avoid damaging inside bird egg or the young bird of bird's nest, after discovering insulator surface adhesion bird manure, can conveniently clear away bird manure through cleaning the mechanism, avoid artifical climbing to remove the bird's nest or clear away bird manure, reduce the danger that transmission line maintained, protection workman's life safety.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles for power transmission lines, in particular to an unmanned aerial vehicle for monitoring, overhauling and maintaining the power transmission lines and an automatic control method of the unmanned aerial vehicle.
Background
The transmission line is realized by boosting the electric energy generated by a generator by a transformer and then connecting the electric energy into the transmission line by control equipment such as a circuit breaker and the like, and has the structural form that the transmission line is divided into an overhead transmission line and a cable line.
However, the overhead line can be directly influenced by meteorological conditions, and strong storms invade and freeze, and meanwhile, lightning strike, rain, wet fog, natural and industrial filth and the like can also destroy or reduce the insulation strength of the overhead line or even cause power failure accidents.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an unmanned aerial vehicle for monitoring, overhauling and maintaining a power transmission line and an automatic control method of the unmanned aerial vehicle. The unmanned aerial vehicle body can conveniently monitor transmission line through monitoring mechanism in this scheme, when having the bird's nest on the discovery shaft tower, can remove the bird's nest through removing the nest mechanism, and bring back ground, avoid damaging the inside bird egg or the young bird of bird's nest, after discovering insulator surface adhesion bird manure, can conveniently clear away bird manure through cleaning the mechanism, avoid artifical climbing to remove the bird's nest or clear away bird manure, reduce the danger that transmission line maintained, protection workman's life safety.
In order to solve the above problems, the present invention adopts the following technical solutions.
An unmanned aerial vehicle for monitoring, overhauling and maintaining a power transmission line comprises an unmanned aerial vehicle body, wherein a monitoring mechanism is fixedly mounted at the front end of the unmanned aerial vehicle body, a connecting mechanism is fixedly mounted at the lower end of the unmanned aerial vehicle body, and a nest removing mechanism and a cleaning mechanism are respectively and movably connected to the lower end of the unmanned aerial vehicle body through the connecting mechanism;
monitoring mechanism includes first fixed box, monitoring subassembly and runner assembly, first fixed box fixed mounting is at the lateral wall of unmanned aerial vehicle body, the monitoring subassembly rotates the lower extreme of connecting at first fixed box lateral wall, runner assembly fixed mounting is in the inside of first fixed box, the runner assembly is connected with the monitoring subassembly transmission.
Further, the monitoring subassembly includes bull stick, support, camera body and first motor, the bull stick rotates the lower extreme of connecting at first fixed box lateral wall, the one end of bull stick stretches into the inside of first fixed box, support fixed mounting is at the lateral wall of bull stick, the camera body rotates the inside of connecting at the support, first motor fixed mounting is in the front of support, the output of first motor stretches into the inside of support, the output and the camera body fixed connection of first motor.
Further, the rotating assembly comprises a second motor, a first gear and a second gear, the second motor is fixedly installed inside the first fixing box, the first gear is fixedly installed at the output end of the second motor, the second gear is fixedly installed on the outer wall of one end of the rotating rod, the first gear is connected with the second gear through transmission of a transmission belt, and a first limiting assembly is fixedly installed at one end of the rotating rod.
Further, first spacing subassembly includes first spacing groove and first stopper, first spacing groove is seted up in the inside of first fixed box, first stopper fixed mounting is at the outer wall of bull stick one end, first stopper sliding connection is in the inside of first spacing groove.
Further, coupling mechanism includes fixed block, spread groove, connecting block, first electric putter, rod groove, draw-in groove and fixture block, fixed block fixed mounting is at the lower extreme of unmanned aerial vehicle body, the lower extreme at the fixed block is seted up to the spread groove, the connecting block is pegged graft in the inside of spread groove, the lower extreme of connecting block fixed mounting respectively has the nest removing mechanism and cleans the mechanism, first electric putter fixed mounting is in the inside of fixed block, first electric putter's output stretches into the inside of spread groove, the rod groove has been seted up to the left side wall of connecting block, first electric putter's output stretches into the inside in rod groove, the inner wall at the spread groove is seted up to the draw-in groove, fixture block fixed mounting is at the right side wall of connecting block, the fixture block joint is in the inside of draw-in groove.
Further, it includes stand, lifting subassembly and carrier assembly to remove nest mechanism, stand fixed mounting is at the lower extreme of connecting block, lifting subassembly fixed mounting is in the upper end of stand lateral wall, carrier assembly fixed mounting is at the lower extreme of stand lateral wall.
Further, the lifting subassembly includes the fixed box of second, second electric putter, carriage release lever, third electric putter and gag lever post, the fixed box fixed mounting of second is in the upper end of stand lateral wall, second electric putter fixed mounting is in the inside of the fixed box of second, the output of second electric putter runs through the fixed box of second, carriage release lever fixed connection is in the output of second electric putter, the stand is run through to the one end of carriage release lever, the inside fixed mounting of stand has the gag lever post, the carriage release lever is run through to the one end of gag lever post, the outer wall and the carriage release lever sliding connection of gag lever post, third electric putter fixed mounting is in the inside of carriage release lever, the output of third electric putter runs through the one end of carriage release lever, the output fixed mounting of third electric putter has the back-pull subassembly.
Furthermore, the pull-back assembly comprises a cross rod, a pull rod and a baffle, the cross rod is fixedly connected to the output end of the third electric push rod, the pull rod is rotatably connected to the lower end of the cross rod, the baffle is fixedly installed at one end of the cross rod, and the side wall of the baffle is movably connected with the side wall of the pull rod.
Furthermore, the bearing assembly comprises a support plate, a fourth electric push rod and a shovel block, the support plate is fixedly installed at the lower end of the side wall of the stand column, the fourth electric push rod is fixedly installed inside the support plate, the output end of the fourth electric push rod penetrates through one end of the support plate, and the shovel block is fixedly installed at the output end of the fourth electric push rod.
Further, clean the mechanism and include the fixed box of third, third motor, commentaries on classics board, spring, slider, cleaning brush and the spacing subassembly of second, the fixed box fixed mounting of third is at the lower extreme of connecting block, third motor fixed mounting is in the inside of the fixed box of third, the output of third motor runs through the fixed box of third, change board fixed mounting at the output of third motor, spring fixed mounting is in the inside of changeing the board, slider sliding connection is in the inside of changeing the board, slider fixed connection is in the one end of spring, cleaning brush fixed connection is at the lower extreme of slider, the spacing subassembly fixed mounting of second is in the upper end of changeing the board.
Further, the second limiting assembly comprises a positioning groove, a positioning rod, a second limiting groove and a second limiting block, the positioning groove is formed in the lower end of the third fixing box, the positioning rod is fixedly installed at the upper end of the rotating plate, the upper end of the positioning rod is connected in the positioning groove in an inserting mode, the second limiting groove is formed in the positioning groove, the second limiting block is fixedly installed at the upper end of the side wall of the positioning rod, and the second limiting block is connected in the second limiting groove in a sliding mode.
Compared with the prior art, the invention has the advantages that:
(1) the unmanned aerial vehicle body can conveniently monitor transmission line through monitoring mechanism in this scheme, when having the bird's nest on the discovery shaft tower, can remove the bird's nest through removing the nest mechanism, and bring back ground, avoid damaging the inside bird egg or the young bird of bird's nest, after discovering insulator surface adhesion bird manure, can conveniently clear away bird manure through cleaning the mechanism, avoid artifical climbing to remove the bird's nest or clear away bird manure, reduce the danger that transmission line maintained, protection workman's life safety.
(2) Can drive the inside rotation of camera body at the support through first motor rotation, reach the effect of adjustment camera body angle, the direction of camera body can be adjusted through runner assembly, drive first gear rotation through the second motor, make first gear pass through the drive belt and drive second gear rotation, thereby make the second gear drive the bull stick and rotate, reach the effect of adjustment camera body direction, the use angle of camera has effectively been promoted, enlarge monitoring range, and conveniently use when getting rid of bird's nest or clean insulator, the position of bull stick can be stabilized through first spacing subassembly, through the inside of first stopper sliding connection at first spacing groove, can avoid the bull stick to drop.
(3) Coupling mechanism can conveniently remove nest mechanism and clean the mechanism dismouting, peg graft in the inside in pole groove through first electric putter's output, can fix the connecting block in the inside of spread groove, and the promotion through first electric putter makes the connecting block move to the right for the fixture block joint is in the inside of draw-in groove, makes the connecting block more firm in the inside position of spread groove, avoids the connecting block to drop or slope, thereby will remove nest mechanism or clean the lower extreme that the mechanism installed at the fixed block.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a schematic view of the monitoring mechanism of the present invention;
FIG. 4 is an enlarged view of portion A of the present invention;
FIG. 5 is a schematic structural view of a nest removing mechanism according to the present invention;
FIG. 6 is an enlarged view of section B of the present invention;
FIG. 7 is a schematic view of the sweeping mechanism of the present invention;
FIG. 8 is an enlarged view of the section C of the present invention.
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.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1-8, an unmanned aerial vehicle for monitoring, overhauling and maintaining a power transmission line comprises an unmanned aerial vehicle body 1, wherein a monitoring mechanism 2 is fixedly installed at the front end of the unmanned aerial vehicle body 1, a connecting mechanism 3 is fixedly installed at the lower end of the unmanned aerial vehicle body 1, and a nest removing mechanism 4 and a cleaning mechanism 5 are respectively and movably connected to the lower end of the unmanned aerial vehicle body 1 through the connecting mechanism 3; the monitoring mechanism 2 comprises a first fixing box 21, a monitoring component 22 and a rotating component 23, the first fixing box 21 is fixedly installed on the side wall of the unmanned aerial vehicle body 1, the monitoring component 22 is rotatably connected to the lower end of the side wall of the first fixing box 21, the rotating component 23 is fixedly installed inside the first fixing box 21, and the rotating component 23 is in transmission connection with the monitoring component 22; unmanned aerial vehicle body 1 can conveniently monitor transmission line through monitoring mechanism 2, when having the bird's nest on the discovery shaft tower, can excise the bird's nest through removing nest mechanism 4, and bring back ground, avoid damaging the inside bird egg or the young bird of bird's nest, after discovering the insulator surface and adhering to bird excrement, can conveniently clear away bird excrement through cleaning mechanism 5, avoid artifical climbing to excise the bird's nest or clear away bird excrement, reduce the danger that transmission line maintained, protection workman's life safety.
Referring to fig. 3, the monitoring assembly 22 includes a rotating rod 221, a bracket 222, a camera body 223 and a first motor 224, the rotating rod 221 is rotatably connected to a lower end of a side wall of the first fixing box 21, one end of the rotating rod 221 extends into the first fixing box 21, the bracket 222 is fixedly installed on the side wall of the rotating rod 221, the camera body 223 is rotatably connected to the inside of the bracket 222, the first motor 224 is fixedly installed on a front surface of the bracket 222, an output end of the first motor 224 extends into the bracket 222, and an output end of the first motor 224 is fixedly connected to the camera body 223; the rotating assembly 23 comprises a second motor 231, a first gear 232 and a second gear 233, the second motor 231 is fixedly installed inside the first fixing box 21, the first gear 232 is fixedly installed at the output end of the second motor 231, the second gear 233 is fixedly installed on the outer wall of one end of the rotating rod 221, the first gear 232 and the second gear 233 are in transmission connection through a transmission belt, and one end of the rotating rod 221 is fixedly provided with a first limiting assembly 24; the first limiting assembly 24 includes a first limiting groove 241 and a first limiting block 242, the first limiting groove 241 is opened inside the first fixing box 21, the first limiting block 242 is fixedly installed on the outer wall of one end of the rotating rod 221, and the first limiting block 242 is slidably connected inside the first limiting groove 241; rotate through first motor 224 and can drive camera body 223 and rotate in the inside of support 222, reach the effect of adjustment camera body 223 angle, the direction of camera body 223 can be adjusted through runner assembly 23, drive first gear 232 through second motor 231 and rotate, make first gear 232 drive second gear 233 through the drive belt and rotate, thereby make second gear 233 drive bull stick 221 rotate, reach the effect of adjustment camera body 223 direction, the use angle of camera has effectively been promoted, enlarge monitoring range, and the convenience is being used when getting rid of bird's nest or clean insulator, the position of bull stick 221 can be stabilized through first spacing subassembly 24, through the inside of first stopper 242 sliding connection in first spacing groove 241, can avoid bull stick 221 to drop.
Referring to fig. 4, the connecting mechanism 3 includes a fixing block 31, a connecting groove 32, a connecting block 33, a first electric push rod 34, a rod groove 35, a locking groove 36 and a locking block 37, the fixed block 31 is fixedly arranged at the lower end of the unmanned aerial vehicle body 1, the connecting groove 32 is arranged at the lower end of the fixed block 31, the connecting block 33 is inserted in the connecting groove 32, the nest removing mechanism 4 and the cleaning mechanism 5 are respectively and fixedly arranged at the lower end of the connecting block 33, the first electric push rod 34 is fixedly arranged inside the fixed block 31, the output end of the first electric push rod 34 extends into the connecting groove 32, the left side wall of the connecting block 33 is provided with a rod groove 35, the output end of the first electric push rod 34 extends into the rod groove 35, the clamping groove 36 is formed in the inner wall of the connecting groove 32, the clamping block 37 is fixedly installed on the right side wall of the connecting block 33, and the clamping block 37 is clamped in the clamping groove 36; coupling mechanism 3 can conveniently remove nest mechanism 4 and clean 5 dismouting of mechanism, the output through first electric putter 34 is pegged graft in the inside of pole groove 35, can fix connecting block 33 in the inside of spread groove 32, promotion through first electric putter 34 makes connecting block 33 remove right, make fixture block 37 joint in the inside of draw-in groove 36, make connecting block 33 more firm in the inside position of spread groove 32, avoid connecting block 33 to drop or incline, thereby will remove nest mechanism 4 or clean mechanism 5 and install the lower extreme at fixed block 31.
Referring to fig. 5-6, the nest removing mechanism 4 includes a vertical column 41, a lifting assembly 42 and a bearing assembly 43, the vertical column 41 is fixedly installed at the lower end of the connecting block 33, the lifting assembly 42 is fixedly installed at the upper end of the side wall of the vertical column 41, and the bearing assembly 43 is fixedly installed at the lower end of the side wall of the vertical column 41; the lifting assembly 42 comprises a second fixing box 421, a second electric push rod 422, a movable rod 423, a third electric push rod 424 and a limiting rod 426, the second fixing box 421 is fixedly installed at the upper end of the side wall of the upright post 41, the second electric push rod 422 is fixedly installed inside the second fixing box 421, the output end of the second electric push rod 422 penetrates through the second fixing box 421, the movable rod 423 is fixedly connected to the output end of the second electric push rod 422, one end of the moving rod 423 penetrates the upright post 41, a limiting rod 426 is fixedly installed inside the upright post 41, one end of the limiting rod 426 penetrates through the moving rod 423, the outer wall of the limiting rod 426 is connected with the moving rod 423 in a sliding way, the third electric push rod 424 is fixedly arranged inside the movable rod 423, the output end of the third electric push rod 424 penetrates through one end of the movable rod 423, and the output end of the third electric push rod 424 is fixedly provided with a pull-back assembly 425; the retraction assembly 425 comprises a cross bar 4251, a pull rod 4252 and a baffle 4253, the cross bar 4251 is fixedly connected with the output end of the third electric push rod 424, the pull rod 4252 is rotatably connected with the lower end of the cross bar 4251, the baffle 4253 is fixedly arranged at one end of the cross bar 4251, and the side wall of the baffle 4253 is movably connected with the side wall of the pull rod 4252; the bearing assembly 43 comprises a support plate 431, a fourth electric push rod 432 and a shovel block 433, the support plate 431 is fixedly arranged at the lower end of the side wall of the upright 41, the fourth electric push rod 432 is fixedly arranged in the support plate 431, the output end of the fourth electric push rod 432 penetrates through one end of the support plate 431, and the shovel block 433 is fixedly arranged at the output end of the fourth electric push rod 432; when a bird nest is found on a tower, the unmanned aerial vehicle body 1 is moved to the position near the bird nest, the height of the movable rod 423 is adjusted according to the height of the bird nest, the movable rod 423 can be driven to move by the second electric push rod 422 fixedly installed in the second fixing box 421, the position of the movable rod 423 is stabilized by the limiting rod 426, the movable rod 423 is prevented from inclining to affect the picking-off work of the bird nest, after the movable rod 423 is moved to a required position, the pull-back component 425 is pushed to move by the third electric push rod 424, the pull rod 4252 is prevented from pushing down the bird nest due to the fact that the pull rod 4252 is rotatably connected to the lower end of the cross rod 4251, when one end of the cross rod 4251 exceeds the bird nest, the third electric push rod 424 drives the cross rod 4251 to shrink, and as the side wall of the baffle 4253 is connected with the side wall of the pull rod 4252 in an attaching manner, the baffle 4253 can shield the position of the pull rod 4252, the pull rod 4252 is prevented from rotating, and the pull rod 4252 can drive the bird nest upright post 4241 to move in the direction, the bird nest is moved to the upper end of the bearing component 43, the shovel block 433 is pushed out of the supporting plate 431 through the fourth electric push rod 432, the bird nest is moved to the upper end of the supporting plate 431 more conveniently, and then the bird nest is brought back to the ground.
Referring to fig. 7-8, the cleaning mechanism 5 includes a third fixing box 51, a third motor 52, a rotating plate 53, a spring 54, a sliding block 55, a cleaning brush 56, and a second limiting component 57, the third fixing box 51 is fixedly installed at the lower end of the connecting block 33, the third motor 52 is fixedly installed inside the third fixing box 51, the output end of the third motor 52 penetrates through the third fixing box 51, the rotating plate 53 is fixedly installed at the output end of the third motor 52, the spring 54 is fixedly installed inside the rotating plate 53, the sliding block 55 is slidably connected inside the rotating plate 53, the sliding block 55 is fixedly connected at one end of the spring 54, the cleaning brush 56 is fixedly connected at the lower end of the sliding block 55, and the second limiting component 57 is fixedly installed at the upper end of the rotating plate 53; the second limit assembly 57 comprises a positioning groove 571, a positioning rod 572, a second limit groove 573 and a second limit block 574, the positioning groove 571 is arranged at the lower end of the third fixing box 51, the positioning rod 572 is fixedly mounted at the upper end of the rotating plate 53, the upper end of the positioning rod 572 is inserted into the positioning groove 571, the second limit groove 573 is arranged in the positioning groove 571, the second limit block 574 is fixedly mounted at the upper end of the side wall of the positioning rod 572, and the second limit block 574 is slidably connected into the second limit groove 573; when bird droppings on the surface of an insulator need to be cleaned, the third motor 52 fixedly installed in the third fixing box 51 can drive the rotating plate 53 to rotate, the cleaning brush 56 can move on the outer wall of the insulator through the rotation of the rotating plate 53 to achieve the effect of cleaning the insulator, the cleaning brush 56 can be connected in the rotating plate 53 in a sliding mode through the sliding block 55, the cleaning brush 56 can be suitable for insulators with different diameters through the sliding block 55, the sliding block 55 is limited through the spring 54, the phenomenon that cleaning is not clean due to too much moving position of the sliding block 55 is avoided, when the rotating plate 53 rotates, the stability of the rotating plate 53 can be improved through the second limiting component 57, the upper end of the positioning rod 572 is inserted in the positioning groove 571, the position of the rotating plate 53 can be stabilized, the phenomenon that the cleaning brush 56 shakes due to the inclination of the rotating plate 53 and the cleaning work is influenced, the second limiting block 574 is connected in the second limiting groove 573 in a sliding mode, the positioning rod 572 can be stably fixed inside the positioning slot 571, and the rotation of the rotating plate 53 is prevented from being influenced by the falling of the positioning rod 572.
The invention discloses an unmanned aerial vehicle, during monitoring and cleaning work, an automatic control method thereof is that an unmanned aerial vehicle body 1 monitors a power transmission line through a detection component in a monitoring mechanism 2, an automatic control module in the body 1 can drive a camera body 223 to rotate in a bracket 222 through automatically controlling a first motor 224 to rotate so as to achieve the effect of adjusting the angle of the camera body 223, the direction of the camera body 223 can be adjusted through a rotating component 23, a first gear 232 is driven to rotate through a second motor 231, the first gear 232 drives a second gear 233 to rotate through a transmission belt, so that the second gear 233 drives a rotating rod 221 to rotate, the rotating rod 221 rotates at the lower end of the side wall of a first fixing box 21 so as to achieve the effect of adjusting the direction of the camera body 223, the use angle of the camera is effectively improved, the monitoring range is expanded, and the unmanned aerial vehicle is convenient to use when a bird nest is removed or an insulator is cleaned, the position of the rotating rod 221 can be stabilized through the first limiting component 24, the rotating rod 221 can be prevented from falling off by being slidably connected inside the first limiting groove 241 through the first limiting block 242, the connecting mechanism 3 can facilitate the dismounting and mounting of the nest removing mechanism 4 and the cleaning mechanism 5, the output end of the first electric push rod 34 is inserted inside the rod groove 35, the connecting block 33 can be fixed inside the connecting groove 32, the connecting block 33 is moved rightwards by automatically controlling the pushing of the first electric push rod 34, the clamping block 37 is clamped inside the clamping groove 36, the position of the connecting block 33 inside the connecting groove 32 is more stabilized, the connecting block 33 is prevented from falling or inclining, the nest removing mechanism 4 or the cleaning mechanism 5 is installed at the lower end of the fixing block 31, when a bird nest is found on a pole tower, the unmanned aerial vehicle body 1 is moved to the vicinity of the bird nest through automatic control, the bird nest is removed through the automatic control, the height of the pull-back component 425 is adjusted by the automatic control lifting component 42 according to the height of the bird nest, the second electric push rod 422 fixedly installed inside the second fixing box 421 can drive the moving rod 423 to move through automatic control, the position of the moving rod 423 is stabilized by the limiting rod 426, the situation that the moving rod 423 tilts to affect the picking work of the bird nest is avoided, after the moving rod 423 moves to a required position, the third electric push rod 424 is automatically controlled to push the pull-back component 425 to move, because the pull rod 4252 is rotatably connected to the lower end of the cross rod 4251, the pull rod 4252 can be prevented from pushing down the bird nest, when one end of the cross rod 4251 exceeds the bird nest, the third electric push rod 424 drives the cross rod 4251 to contract, because the side wall of the baffle 4253 is attached to the side wall of the pull rod 4252, the baffle 4253 can shield the position of the pull rod 4252, the pull rod 4252 is prevented from rotating, and the pull rod 4252 can drive the bird nest upright 41 to move in the direction, the bird nest is moved to the upper end of the bearing component 43, the shovel block 433 is pushed out of the support plate 431 by the automatically controlled fourth electric push rod 432, the bird nest is more conveniently moved to the upper end of the support plate 431, then the bird nest is taken back to the ground, after bird dung is found to be attached to the surface of the insulator, the bird dung can be conveniently removed by the automatically controlled cleaning mechanism 5, the rotating plate 53 can be driven to rotate by the automatic control through the third motor 52 fixedly installed in the third fixing box 51, the cleaning brush 56 is moved on the outer wall of the insulator through the rotation of the rotating plate 53 to achieve the effect of cleaning the insulator, the cleaning brush 56 is connected inside the rotating plate 53 in a sliding manner through the sliding block 55, so that the cleaning brush 56 can be suitable for insulators with different diameters through the sliding block 55, the sliding block 55 is limited through the spring 54, the phenomenon that the cleaning is incomplete due to too much moving position of the sliding block 55 is avoided, when the rotating plate 53 rotates, can promote the stability of changeing board 53 through second spacing subassembly 57, peg graft in the inside of constant head tank 571 in the upper end through locating lever 572, can stabilize the position of changeing board 53, avoid changeing board 53 slope and lead to cleaning brush 56 to rock, influence cleaning work, through the inside of second stopper 574 sliding connection at second spacing groove 573, can stabilize locating lever 572 in the inside of constant head tank 571, avoid locating lever 572 to drop and influence changeing board 53 and rotate, avoid artifical climbing to remove the nest of a bird or clear away bird's droppings, reduce the danger that transmission line maintained, protection workman's life safety.
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 (6)
1. The utility model provides a transmission line monitoring overhauls maintains unmanned aerial vehicle, includes unmanned aerial vehicle body (1), its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), a monitoring mechanism (2) and a connecting mechanism (3), wherein the monitoring mechanism (2) is fixedly installed at the front end of the unmanned aerial vehicle body (1), the connecting mechanism (3) is fixedly installed at the lower end of the unmanned aerial vehicle body (1), and the nest removing mechanism (4) and the cleaning mechanism (5) are respectively and movably connected to the lower end of the unmanned aerial vehicle body (1) through the connecting mechanism (3); the monitoring mechanism (2) comprises a first fixed box (21), a monitoring component (22) and a rotating component (23), the first fixed box (21) is fixedly installed on the side wall of the unmanned aerial vehicle body (1), the monitoring component (22) is rotatably connected to the lower end of the side wall of the first fixed box (21), the rotating component (23) is fixedly installed inside the first fixed box (21), the rotating component (23) is in transmission connection with the monitoring component (22), the connecting mechanism (3) comprises a fixed block (31), a connecting groove (32), a connecting block (33), a first electric push rod (34), a rod groove (35), a clamping groove (36) and a clamping block (37), the fixed block (31) is fixedly installed at the lower end of the unmanned aerial vehicle body (1), the connecting groove (32) is arranged at the lower end of the fixed block (31), and the connecting block (33) is inserted into the connecting groove (32), the lower end of the connecting block (33) is respectively and fixedly provided with a nest removing mechanism (4) and a cleaning mechanism (5), the first electric push rod (34) is fixedly arranged in the fixing block (31), the output end of the first electric push rod (34) extends into the connecting groove (32), the left side wall of the connecting block (33) is provided with a rod groove (35), the output end of the first electric push rod (34) extends into the rod groove (35), the clamping groove (36) is arranged on the inner wall of the connecting groove (32), the clamping block (37) is fixedly arranged on the right side wall of the connecting block (33), the clamping block (37) is clamped in the clamping groove (36), the nest removing mechanism (4) comprises a stand column (41), a lifting component (42) and a bearing component (43), the stand column (41) is fixedly arranged at the lower end of the connecting block (33), and the lifting component (42) is fixedly arranged at the upper end of the side wall of the stand column (41), the bearing component (43) is fixedly installed at the lower end of the side wall of the upright post (41), the lifting component (42) comprises a second fixing box (421), a second electric push rod (422), a moving rod (423), a third electric push rod (424) and a limiting rod (426), the second fixing box (421) is fixedly installed at the upper end of the side wall of the upright post (41), the second electric push rod (422) is fixedly installed inside the second fixing box (421), the output end of the second electric push rod (422) penetrates through the second fixing box (421), the moving rod (423) is fixedly connected to the output end of the second electric push rod (422), one end of the moving rod (423) penetrates through the upright post (41), the limiting rod (426) is fixedly installed inside the upright post (41), one end of the limiting rod (426) penetrates through the moving rod (423), the outer wall of the limiting rod (426) is in sliding connection with the moving rod (423), the third electric push rod (424) is fixedly installed inside the moving rod (423), the output end of the third electric push rod (424) penetrates through one end of the moving rod (423), the output end of the third electric push rod (424) is fixedly provided with a pull-back assembly (425), the pull-back assembly (425) comprises a cross rod (4251), a pull rod (4252) and a baffle (4253), the cross rod (4251) is fixedly connected with the output end of the third electric push rod (424), the pull rod (4252) is rotatably connected with the lower end of the cross rod (4251), the baffle (4253) is fixedly installed at one end of the cross rod (4251), the side wall of the baffle (4253) is movably connected with the side wall of the pull rod (4252), the bearing assembly (43) comprises a support plate (431), a fourth electric push rod (432) and a shovel block (433), the support plate (431) is fixedly installed at the lower end of the side wall of the upright column (41), the fourth electric push rod (432) is fixedly arranged inside the support plate (431), the output end of the fourth electric push rod (432) penetrates through one end of the support plate (431), the shovel block (433) is fixedly arranged at the output end of the fourth electric push rod (432), the cleaning mechanism (5) comprises a third fixing box (51), a third motor (52), a rotating plate (53), a spring (54), a sliding block (55), a cleaning brush (56) and a second limiting component (57), the third fixing box (51) is fixedly arranged at the lower end of the connecting block (33), the third motor (52) is fixedly arranged inside the third fixing box (51), the output end of the third motor (52) penetrates through the third fixing box (51), the rotating plate (53) is fixedly arranged at the output end of the third motor (52), and the spring (54) is fixedly arranged inside the rotating plate (53), slider (55) sliding connection is in the inside of changeing board (53), slider (55) fixed connection is in the one end of spring (54), cleaning brush (56) fixed connection is in the lower extreme of slider (55), spacing subassembly of second (57) fixed mounting is in the upper end of changeing board (53).
2. The unmanned aerial vehicle for monitoring, overhauling and maintaining power transmission line according to claim 1, is characterized in that: monitoring subassembly (22) includes bull stick (221), support (222), camera body (223) and first motor (224), bull stick (221) rotates the lower extreme of connecting at first fixed box (21) lateral wall, the inside of first fixed box (21) is stretched into to the one end of bull stick (221), support (222) fixed mounting is at the lateral wall of bull stick (221), camera body (223) rotate the inside of connecting at support (222), first motor (224) fixed mounting is in the front of support (222), the output of first motor (224) stretches into the inside of support (222), the output and camera body (223) fixed connection of first motor (224).
3. The unmanned aerial vehicle for monitoring, overhauling and maintaining power transmission line according to claim 2, is characterized in that: rotating assembly (23) includes second motor (231), first gear (232) and second gear (233), second motor (231) fixed mounting is in the inside of first fixed box (21), first gear (232) fixed mounting is in the output of second motor (231), second gear (233) fixed mounting is at the outer wall of bull stick (221) one end, first gear (232) is connected through drive belt transmission with second gear (233), the one end fixed mounting of bull stick (221) has first spacing subassembly (24).
4. The unmanned aerial vehicle for monitoring, overhauling and maintaining power transmission line according to claim 3, is characterized in that: first spacing subassembly (24) include first spacing groove (241) and first stopper (242), the inside at first fixed box (21) is seted up in first spacing groove (241), first stopper (242) fixed mounting is at the outer wall of bull stick (221) one end, first stopper (242) sliding connection is in the inside of first spacing groove (241).
5. The unmanned aerial vehicle for monitoring, overhauling and maintaining power transmission line according to claim 4, is characterized in that: the second limiting assembly (57) comprises a positioning groove (571), a positioning rod (572), a second limiting groove (573) and a second limiting block (574), the positioning groove (571) is arranged at the lower end of the third fixing box (51), the positioning rod (572) is fixedly mounted at the upper end of the rotating plate (53), the upper end of the positioning rod (572) is inserted into the positioning groove (571), the second limiting groove (573) is arranged inside the positioning groove (571), the second limiting block (574) is fixedly mounted at the upper end of the side wall of the positioning rod (572), and the second limiting block (574) is connected inside the second limiting groove (573) in a sliding manner.
6. An unmanned aerial vehicle automatic control method for power transmission line monitoring, overhauling and maintaining unmanned aerial vehicle based on claim 5 is characterized in that: the unmanned aerial vehicle body (1) monitors the power transmission line through the detection component in the monitoring mechanism (2), an automatic control module in the body (1) can drive the camera body (223) to rotate in the support (222) through automatically controlling the first motor (224), so as to achieve the effect of adjusting the angle of the camera body (223), the direction of the camera body (223) can be adjusted through the rotating component (23), the first gear (232) is driven to rotate through the second motor (231), so that the first gear (232) drives the second gear (233) to rotate through a transmission belt, so that the second gear (233) drives the rotating rod (221) to rotate, so that the rotating rod (221) rotates at the lower end of the side wall of the first fixing box (21), so as to achieve the effect of adjusting the direction of the camera body (223), the use angle of the camera is effectively improved, the monitoring range is enlarged, the device is convenient to use when a bird nest is removed or an insulator is cleaned, the position of the rotating rod (221) can be stabilized through the first limiting component (24), the rotating rod (221) can be prevented from falling off by the first limiting block (242) being connected inside the first limiting groove (241) in a sliding manner, the connecting mechanism (3) can facilitate the disassembly and the assembly of the nest removing mechanism (4) and the cleaning mechanism (5), the output end of the first electric push rod (34) is inserted inside the rod groove (35), the connecting block (33) can be fixed inside the connecting groove (32), the connecting block (33) is moved rightwards by automatically controlling the pushing of the first electric push rod (34), the clamping block (37) is clamped inside the clamping groove (36), the position of the connecting block (33) inside the connecting groove (32) is more stabilized, the connecting block (33) is prevented from falling or inclining, and the nest removing mechanism (4) or the cleaning mechanism (5) is installed at the lower end of the fixing block (31), when a bird nest is found on a tower, the unmanned aerial vehicle body (1) is moved to the position near the bird nest through automatic control, the bird nest is removed through an automatic control nest removing mechanism (4), the height of a pull-back component (425) is adjusted through an automatic control lifting component (42) according to the height of the bird nest, a second electric push rod (422) fixedly installed in a second fixing box (421) can drive a moving rod (423) to move through automatic control, the position of the moving rod (423) is stabilized through a limiting rod (426), the situation that the moving rod (423) inclines to influence the removal work of the bird nest is avoided, after the moving rod (423) moves to a required position, the pull-back component (425) is pushed to move through automatic control of a third electric push rod (424), the pull rod (4252) is rotatably connected to the lower end of a cross rod (4251), the pull rod (4252) can be prevented from pushing down the bird nest, after one end of the cross rod (4251) exceeds the bird nest, the third electric push rod (424) drives the cross rod (4251) to contract, the side wall of the baffle plate (4253) is attached to the side wall of the pull rod (4252), the baffle plate (4253) can shield the position of the pull rod (4252), the pull rod (4252) is prevented from rotating, the pull rod (4252) can drive the bird nest upright post (41) to move in the direction, the bird nest is moved to the upper end of the bearing component (43), the shovel block (433) is pushed out of the support plate (431) through automatically controlling the fourth electric push rod (432), the bird nest is more conveniently moved to the upper end of the support plate (431), then the bird nest is brought back to the ground, after bird dung is found to be attached to the surface of the insulator, the bird dung can be conveniently removed through the automatic control cleaning mechanism (5), the third motor (52) fixedly installed inside the third fixing box (51) can drive the rotating plate (53) to rotate through automatic control, the outer wall of the cleaning brush (56) can move on the outer wall of the insulator through the rotation of the rotating plate (53), the insulator cleaning device has the advantages that the effect of cleaning insulators is achieved, the sliding block (55) is connected inside the rotating plate (53) in a sliding mode, the cleaning brush (56) can be suitable for insulators with different diameters through the sliding block (55), the sliding block (55) is limited through the spring (54), the situation that cleaning is not clean due to the fact that the sliding block (55) moves too much is avoided, when the rotating plate (53) rotates, the stability of the rotating plate (53) can be improved through the second limiting assembly (57), the positioning rod (572) is inserted into the positioning groove (571) through the upper end of the positioning rod (572), the position of the rotating plate (53) can be stabilized, the situation that the cleaning brush (56) shakes due to the fact that the rotating plate (53) inclines is avoided, cleaning work is affected, the positioning rod (572) is connected inside the second limiting groove (573) in a sliding mode through the second limiting block (574), the positioning rod (572) can be stabilized inside the positioning groove (571), and the situation that the positioning rod (572) falls off to affect rotation of the rotating plate (53) is avoided, the bird nest is removed or the bird dung is removed by avoiding manual climbing, the danger of maintaining the power transmission line is reduced, and the life safety of workers is protected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110780058.2A CN113479325A (en) | 2021-07-09 | 2021-07-09 | Automatic control method of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110780058.2A CN113479325A (en) | 2021-07-09 | 2021-07-09 | Automatic control method of unmanned aerial vehicle |
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| CN113479325A true CN113479325A (en) | 2021-10-08 |
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| CN202110780058.2A Withdrawn CN113479325A (en) | 2021-07-09 | 2021-07-09 | Automatic control method of unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115753785A (en) * | 2022-11-01 | 2023-03-07 | 上海得皓自动化科技中心 | Method for overhauling induced draft fan of high-altitude boiler |
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2021
- 2021-07-09 CN CN202110780058.2A patent/CN113479325A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115753785A (en) * | 2022-11-01 | 2023-03-07 | 上海得皓自动化科技中心 | Method for overhauling induced draft fan of high-altitude boiler |
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