CN113628499B - Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and detection - Google Patents
Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and detection Download PDFInfo
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- CN113628499B CN113628499B CN202111024418.2A CN202111024418A CN113628499B CN 113628499 B CN113628499 B CN 113628499B CN 202111024418 A CN202111024418 A CN 202111024418A CN 113628499 B CN113628499 B CN 113628499B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/085—Special purpose teaching, e.g. alighting on water, aerial photography
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/48—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer a model being viewed and manoeuvred from a remote point
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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Abstract
A collaborative virtual operation training platform for unmanned aerial vehicle power grid operation inspection is provided, and in the process of training and checking, whether an operator controls unmanned aerial vehicle to fly and hover according to a specified route is required to be checked. Therefore, the unmanned aerial vehicle controlled by the operator is checked through the detection positioning device. When training and assessment are started, the control terminal (namely the computer equipment) controls the annular track and the travelling crane to move to corresponding positions according to pre-stored path information and each hovering position coordinate information, so that laser pulses emitted by a plurality of laser sensors are correspondingly intersected in a hovering area specified by unmanned aerial vehicle inspection shooting. The unmanned aerial vehicle arrives at a specified hovering area according to the correct path, then reflects laser pulses to the sensor receiver to generate signals, and the control terminal can judge whether the flight path of an operator is correct according to the signals.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to a collaborative virtual operation training platform for unmanned aerial vehicle power grid operation inspection.
Background
The national network company clearly proposes to apply the unmanned aerial vehicle inspection mode, the robot inspection mode and the helicopter inspection mode to the inspection work of the power transmission line, thereby obviously improving the in-control, energy control and controllability of the power transmission line. At present, the multi-rotor unmanned aerial vehicle is widely applied to overhead transmission line inspection operation, so that the quality and efficiency of traditional manual inspection operation of transmission lines, particularly mountain area lines, are greatly improved, and the unmanned aerial vehicle inspection gradually becomes an effective means for replacing manual inspection. Under practice and fumbling, unmanned aerial vehicle inspection gradually forms a set of inspection shooting regulations, and when the tower inspection is clearly regulated, the unmanned aerial vehicle hovers area, shooting position, shooting angle, shooting quality requirement and other detail specifications are specified.
The problems now exist: the new staff study inspection regulations, but lack a training and checking platform, and directly conduct practical operation on objects, so that whether the operation of the new staff is in compliance or in place is difficult to check by naked eyes, and the safety risk of power grid accidents caused by improper operation of the new staff exists. Therefore, a training platform is needed to provide new staff with opportunities for practicing safe operation practices, accumulate effective experience, and form a scientific set of test means to check the operation.
Disclosure of Invention
The invention provides a collaborative virtual job training platform for unmanned aerial vehicle power grid operation and inspection, aiming at solving the defects of the technology.
The technical scheme of the invention is as follows: the utility model provides a virtual operation training platform in coordination for unmanned aerial vehicle electric wire netting fortune is examined, includes control terminal, has camera equipment's unmanned aerial vehicle, simulation shaft tower and detects positioner, detect positioner including encircling the annular track of simulation shaft tower, lifting rail, lift actuating mechanism and a plurality of driving mechanism, vertical direction lift sliding fit is done along the lifting rail to the annular track, lift actuating mechanism and annular track linkage cooperation, drive annular track lift, a plurality of driving mechanism sets up in annular track, walks around the simulation shaft tower along annular track, all is equipped with laser sensor on this a plurality of driving mechanism, control terminal and lifting mechanism, driving mechanism, laser sensor signal connection, control a plurality of driving mechanism and patrol and examine the regional adjustment self position that hovers that the simulation shaft tower route prescribes corresponding unmanned aerial vehicle, make a plurality of laser sensor send out the laser pulse, correspond and meet and patrol and examine the regional that prescribes hovering that to shoot at unmanned aerial vehicle, unmanned aerial vehicle is hovered everywhere for the simulation shaft tower according to patrol and examine the route, trigger the laser sensor signal in proper order.
By adopting the technical scheme, as shown in the attached figure 1 of the specification, when the unmanned aerial vehicle patrols and examines the pole tower, the unmanned aerial vehicle plans the patrol route according to the part to be shot, and hovers at each letter in the figure 1 in sequence, adjusts the shooting angle and shoots the image information of each round point (and each pole tower) in the figure 1.
Therefore, the simulation towers are arranged according to a certain proportion of the actual towers, the simulation towers can be arranged according to the appearance of various types of towers such as actual transposition towers, compact towers, alternating current line single-loop resistance Zhang Ganzi towers, wire-drawing towers and the like according to the training and assessment requirements, the simulation towers are correspondingly replaced, unmanned aerial vehicle operations of different paths are carried out, and the simulation towers are not limited by the modeling of the simulation towers in the attached drawings of the specification.
In the training and checking process, whether an operator controls the unmanned aerial vehicle to fly or hover according to a specified route needs to be checked. Therefore, the unmanned aerial vehicle controlled by the operator is checked through the detection positioning device. When training and assessment are started, the control terminal (namely the computer equipment) controls the annular track and the travelling crane to move to corresponding positions according to pre-stored path information and each hovering position coordinate information, so that laser pulses emitted by a plurality of laser sensors are correspondingly intersected in a hovering area specified by unmanned aerial vehicle inspection shooting. The unmanned aerial vehicle arrives at a specified hovering area according to the correct path, then reflects laser pulses to the sensor receiver to generate signals, and the control terminal can judge whether the flight path of an operator is correct according to the signals.
The three-dimensional movement formed by the annular track and the travelling crane can also bypass the obstacle of the simulation tower, so that the laser is smoothly aligned to the hovering area.
The invention is further provided with: the simulation tower is provided with a plurality of air bag type simulation pieces, each air bag type simulation piece comprises an air bag, an air passage and a first electromagnetic control valve for controlling the on-off of the air passage, the air bag is in the shape of an insulator string, the air bag is provided with an air inlet and an air outlet, the air inlet and the air outlet are respectively provided with the electromagnetic control valves, the training platform further comprises air source equipment, the air bag type simulation pieces are respectively communicated with the air source equipment through the air passage, and the first electromagnetic control valves are in signal connection with a control terminal and control the air bag to be inflated and deflated.
By adopting the technical scheme, the unmanned aerial vehicle transportation and inspection exercise and the inspection are performed, so that the flight technology of operators is inspected, whether the shooting of the operators is in place or not is inspected, and whether fault points or fault hidden dangers are accurately found or not is also inspected. Therefore, the invention also discloses an air bag type simulation piece arranged on the simulation tower, the control terminal is used for controlling the inflation and deflation of each air bag, the inflated air bag is used as a normal complete component, the deflated air bag simulates a fault component, and the simulation tower is randomly arranged everywhere to check whether an operator shoots a fault part correctly. After practice and examination, comparing the content of the photo with the content set by the control terminal, scoring the number of fault parts set by the photo, and obtaining the achievement of operators. The invention uses the air bag as the shape of the insulator string (simulating the insulator string in the first piece of fig. 2 of the specification), but the air bag can also be used as the shape of other parts on the tower for simulation, and the invention still falls within the set thought of the invention.
The invention is further provided with: the simulation tower is provided with a plurality of pneumatic simulation pieces, each pneumatic simulation piece comprises a base, a lifting rod, a lifting cylinder, a movable nut and an immovable nut, one end face of the base is fixedly connected with the immovable nut, a through hole coaxially arranged with the immovable nut is formed in the base, the lifting cylinder is fixedly connected with the other end face of the base and is in linkage fit with the lifting rod, the lifting rod penetrates through the immovable nut seat to be in sliding fit with the movable nut and is in coaxial fixed connection with the movable nut, the control terminal is in signal connection with the lifting cylinder, and the movable nut is controlled to be relatively attached to or far away from the immovable nut, so that the tightness state is simulated.
By adopting the technical scheme, the state of whether the nuts on the bolts are loosened or not (the second middle nut in the figure 2 of the simulation instruction) is simulated through the driving of the lifting cylinder, so that fault characteristics are further controllably provided, and shooting is supplied. The invention exemplifies the relative movement between drive nuts, and similarly, by replacing characteristic parts, the spacing opening and closing postures of other parts on the tower can be simulated, and the invention is not limited to nuts.
The invention is further provided with: the simulated tower Shanghai is provided with a plurality of rotary simulation parts, each rotary simulation part comprises a seat body, a buckle body and a rotary motor, each buckle body is hinged with the seat body, the rotary motor is fixedly connected with the seat body and is in linkage fit with the buckle body, and the control terminal is in signal connection with the rotary motor and controls the buckle body to be folded or unfolded in a rotary mode relative to the seat body.
By adopting the technical scheme, whether the hanging point (the hanging point in the second piece in the simulation instruction figure 2) of the lead end of the suspension insulator string is tripped or not is simulated through the rotary simulation piece. The invention is exemplified to drive the buckling state of the hanging point and the steel cable, and similarly, by replacing the characteristic parts, the rotary buckling posture of other parts on the tower can be simulated, and the invention is not limited to the hanging point structure.
The invention is further provided with: the training platform is arranged in the storehouse, the large-scale fan and a plurality of air outlet pipes distributed at all parts of the storehouse are further arranged in the storehouse, the air outlet pipes are all provided with an electric control door for controlling on-off and are all communicated with the large-scale fan, the control terminal is in signal connection with the large-scale fan and the electric control door, and unidirectional airflow or turbulent flow is formed in the storehouse.
By adopting the technical scheme, the real tower is arranged outdoors and is influenced by natural strong wind conditions, and the actual flying of the unmanned aerial vehicle is more difficult, so that the invention simulates the flying conditions of the outdoor unmanned aerial vehicle, the platform is arranged in the storehouse with controllable environment, simulates the outdoor strong wind, controls the large fan to blow air in the storehouse, and increases the training intensity.
The invention is further provided with: and the storeroom is also internally provided with lighting equipment, and the control terminal is connected with the lighting equipment through signals and used for controlling the visibility in the storeroom.
By adopting the technical scheme, the unmanned aerial vehicle inspection is used for shooting images, outdoor light changes have obvious influence on image quality, different brightness is formed by arranging and controlling the lighting equipment, and training simulation is improved.
The invention is further provided with: and a sprayer is further arranged in the warehouse, and the control terminal is connected with the sprayer in a signal manner to control the visibility in the warehouse.
By adopting the technical scheme, some towers are arranged in mountain areas and often accompanied with emergent cloud and fog, and the emergency situation causes shielding of vision, so that flight accidents are extremely easy to generate.
The invention is further provided with: be equipped with gas bomb, jet-propelled pipe and the second electromagnetic control valve of control jet-propelled pipe break-make on the unmanned aerial vehicle, this jet-propelled pipe one end and gas bomb intercommunication, the other end extends outside unmanned aerial vehicle, second electromagnetic control valve and unmanned aerial vehicle control terminal signal connection.
By adopting the technical scheme, the towers are provided with respective pole number plates, the pole number plates are required to be shot during inspection to identify the tower information and file photos. But outdoor environment, pole number plate extremely has the spot to shelter from, leads to unable shooting discernment. Therefore, the gas storage bottle is arranged on the unmanned aerial vehicle, the second electromagnetic control valve is used for controlling the high-pressure gas to be sprayed out, and the gas spraying pipe is used for correspondingly spraying and removing the stains on the rod number plate. In the invention, an operator can control the unmanned aerial vehicle on the simulated tower to perform jet exercise.
The invention is further provided with: the lifting mechanism comprises a screw rod and a screw rod motor, a screw rod seat which is in sliding fit with the lifting rail is arranged on the annular rail, a screw rod screw hole is formed in the screw rod seat along the vertical direction, and the screw rod is inserted into the screw rod screw hole and is in linkage fit with the screw rod motor; the travelling mechanism comprises a vehicle body in sliding fit with the annular rail, travelling wheels are rotatably arranged on the vehicle body, a travelling motor is fixedly arranged on the vehicle body, and the travelling wheels are in friction fit with the annular rail and are in linkage fit with the travelling motor; the control terminal is in signal connection with the screw motor and the walking motor.
By adopting the technical scheme, the circular track and the travelling crane are controlled.
Drawings
FIG. 1 is a reference diagram of a path of an unmanned aerial vehicle inspection tower in an embodiment of the invention;
FIG. 2 is a partial tower component reference diagram according to an embodiment of the present invention;
FIG. 3 is a block diagram of FIG. 1 of an embodiment of the present invention;
FIG. 4 is a block diagram of FIG. 2 in accordance with an embodiment of the present invention;
FIG. 5 is an exploded view of an embodiment of the present invention;
FIG. 6 is a block diagram of FIG. 3 in accordance with an embodiment of the present invention;
FIG. 7 is a schematic diagram of an air bag type simulator according to an embodiment of the present invention;
FIG. 8 is a diagram of a pneumatic simulator in accordance with an embodiment of the present invention;
fig. 9 is a diagram showing a structure of a rotary type simulator according to an embodiment of the present invention.
The device comprises a 1-unmanned aerial vehicle, a 2-simulation pole tower, a 3-annular track, a 4-lifting track, a 5-travelling mechanism, a 51-laser sensor, a 61-airbag, a 62-insulator chain, a 63-base, a 64-lifting rod, a 65-lifting cylinder, a 66-movable nut, a 661-immovable nut, a 67-base, a 68-buckle, a 69-rotating motor, a 7-warehouse, a 71-air outlet pipe, 72-lighting equipment, a 73-sprayer, a 74-large fan, a 81-screw rod and a 82-screw rod base.
Detailed Description
As shown in fig. 1-9, a collaborative virtual operation training platform for power grid operation and inspection of an unmanned aerial vehicle 1 comprises a control terminal, the unmanned aerial vehicle 1 with camera equipment, a simulation tower 2 and a detection positioning device, wherein the detection positioning device comprises an annular track 3 surrounding the simulation tower 2, a lifting track 4, a lifting driving mechanism and a plurality of driving mechanisms 5, the annular track 3 is in vertical lifting sliding fit along the lifting track 4, the lifting driving mechanism is in linkage fit with the annular track 3, the annular track 3 is driven to lift, the driving mechanisms 5 are arranged in the annular track 3, the unmanned aerial vehicle 1 walks around the simulation tower 2 along the annular track 3, the driving mechanisms 5 are all provided with laser sensors 51, the control terminal is in signal connection with the lifting mechanism, the driving mechanisms 5 and the laser sensors 51, the driving mechanisms 5 are controlled to adjust the position of the unmanned aerial vehicle 1 corresponding to a hovering area specified by a path of the simulation tower 2, laser pulses emitted by the laser sensors 51 are enabled to correspond to the area specified by the unmanned aerial vehicle 1 to be photographed by the inspection, the unmanned aerial vehicle 1 is sequentially hovering and the corresponding to the laser sensors 51 corresponding to the hovering area corresponding to the simulation tower 2.
As shown in fig. 1 of the specification, when the unmanned aerial vehicle 1 patrols and examines a pole tower, a patrol path is planned according to a part to be shot, the unmanned aerial vehicle 1 hovers at each letter in fig. 1 in sequence, shooting angles are adjusted, and image information of each round point (and each pole tower) in fig. 1 is shot.
Therefore, the simulation tower 2 is arranged according to a certain proportion of a real tower, the simulation tower 2 can be arranged according to various tower shapes such as an actual transposition tower, a compact tower, an alternating current line single-loop Zhang Ganzi tower, a wire-drawing tower and the like according to the training and checking requirements, the simulation tower 2 is correspondingly replaced, and the unmanned aerial vehicle 1 operation in different paths is carried out without being limited by the modeling of the simulation tower 2 in the attached drawing of the specification.
In the training and checking process, it is necessary to check whether an operator controls the unmanned aerial vehicle 1 to fly and hover according to a prescribed route. Therefore, the invention checks the unmanned aerial vehicle 1 controlled by the operator through the detection positioning device. When training and assessment are started, the control terminal (i.e. the computer equipment) controls the annular track 3 and the travelling crane to move to the corresponding positions according to the pre-stored path information and the coordinate information of each hovering position, so that the laser pulses emitted by the plurality of laser sensors 51 are correspondingly intersected in the hovering area specified by the inspection shooting of the unmanned aerial vehicle 1. The unmanned aerial vehicle 1 arrives at a specified hovering area according to a correct path, reflects laser pulses to a sensor receiver, generates a signal, and the control terminal can judge whether the flight path of an operator is correct according to the signal.
The three-dimensional movement formed by the annular track 3 and the travelling crane can also bypass the obstacle of the simulation tower 2, so that the laser is smoothly aligned to the hovering area.
The invention is further provided with: the simulation tower 2 is provided with a plurality of air bags 61 type simulation pieces, each air bag 61 type simulation piece comprises an air bag 61, an air passage and a first electromagnetic control valve for controlling the on-off of the air passage, each air bag 61 is in the shape of an insulator chain 62, each air bag 61 is provided with an air inlet and an air outlet, each air inlet and each air outlet are respectively provided with an electromagnetic control valve, the training platform further comprises air source equipment, the plurality of air bags 61 type simulation pieces are respectively communicated with the air source equipment through the air passage, and the first electromagnetic control valves are in signal connection with a control terminal to control the air bags 61 to be inflated and deflated.
The unmanned aerial vehicle 1 is used for carrying out inspection practice and examination, not only is the flight technology of operators examined, but also whether the shooting of the operators is in place or not is examined, and whether fault points or fault hidden dangers are accurately found. Therefore, the invention also controls the inflation and deflation of each air bag 61 through the control terminal in the air bag 61 type simulation piece arranged on the simulation tower 2, the inflated air bags 61 are used as normal complete components, the deflated air bags 61 simulate fault components, the simulation tower 2 randomly appears everywhere, and whether operators shoot the fault parts correctly is checked. After practice and examination, comparing the content of the photo with the content set by the control terminal, scoring the number of fault parts set by the photo, and obtaining the achievement of operators. The invention exemplifies that the air bag 61 is made into the shape of the insulator string 62 (simulating the insulator string in the first piece of fig. 2 of the specification), but similarly, the air bag 61 can also be made into the shape of other parts on the tower for simulation, and still falls within the concept of the invention.
The simulation tower 2 is provided with a plurality of pneumatic simulation pieces, each pneumatic simulation piece comprises a base 63, a lifting rod 64, a lifting cylinder 65, a movable nut 66 and an immovable nut 66, one end face of the base 63 is fixedly connected with the immovable nut 66, a through hole which is coaxially arranged with the immovable nut 66 is formed in the base 63, the lifting cylinder 65 is fixedly connected with the other end face of the base 63 and is in linkage fit with the lifting rod 64, the lifting rod 64 penetrates through the immovable nut 66 seat to be in sliding fit with the movable nut 66 and is fixedly connected with the movable nut 66 coaxially, the control terminal is in signal connection with the lifting cylinder 65, and the movable nut 66 is controlled to be relatively attached to or far away from the immovable nut 66, so that the tightness state is simulated.
By driving the lifting cylinder 65, the state of whether the nut on the bolt is loosened is simulated (the second nut in fig. 2 in the simulation specification), and the fault feature is further controllably provided for shooting. The invention exemplifies the relative movement between drive nuts, and similarly, by replacing characteristic parts, the spacing opening and closing postures of other parts on the tower 2 can be simulated, and the invention is not limited to nuts.
The simulated tower 2 is provided with a plurality of rotary simulation members on the sea, the rotary simulation members comprise a base 67, a buckle 68 and a rotary motor 69, the buckle 68 is hinged with the base 67, the rotary motor 69 is fixedly connected with the base 67 and is in linkage fit with the buckle 68, and the control terminal is connected with the rotary motor 69 through signals to control the buckle 68 to be folded or unfolded in a rotary mode relative to the base 67.
The failure of whether the lead end hanging point (the hanging point in the second sheet in fig. 2 of the simulation specification) of the suspension insulator string 62 was tripped is simulated by the rotary type simulator. The invention exemplifies the buckling state of the hanging point and the steel cable, and similarly, by replacing characteristic parts, the rotary buckling posture of other parts on the tower 2 can be simulated, and the invention is not limited to the hanging point structure.
The training platform is arranged in the storehouse 7, the storehouse 7 is internally provided with a large fan 74 and a plurality of air outlet pipes 71 distributed at the positions of the storehouse 7, the air outlet pipes 71 are respectively provided with an electric control door for controlling on-off and are respectively communicated with the large fan 74, and the control terminal is in signal connection with the large fan 74 and the electric control door to control unidirectional airflow or turbulence in the storehouse 7.
The real tower is arranged outdoors and is influenced by natural strong wind conditions, and the actual flying of the unmanned aerial vehicle 1 is more difficult, so the invention simulates the flying condition of the outdoor unmanned aerial vehicle 1, the platform is arranged in the storehouse 7 with controllable environment, the outdoor strong wind is simulated, the large fan 74 is controlled to blow air in the storehouse 7, and the training intensity is increased.
And a lighting device 72 is further arranged in the storeroom 7, and the control terminal is in signal connection with the lighting device 72 and controls the visibility in the storeroom 7.
The unmanned aerial vehicle 1 is used for shooting images, outdoor light changes have obvious influence on image quality, different brightness is formed by arranging and controlling the lighting equipment 72, and training simulation is improved.
And a sprayer 73 is further arranged in the storehouse 7, and the control terminal is connected with the sprayer 73 in a signal manner to control the visibility in the storehouse 7.
The invention simulates the cloud environment and increases the emergency experience of operators by controlling the sprayer 73.
Be equipped with gas bomb, jet-propelled pipe and the second electromagnetic control valve of control jet-propelled pipe break-make on the unmanned aerial vehicle 1, this jet-propelled pipe one end and gas bomb intercommunication, the other end extends to unmanned aerial vehicle 1 outside, second electromagnetic control valve and unmanned aerial vehicle 1 control terminal signal connection.
The pole towers all have respective pole number plate, need shoot pole number plate when patrolling and examining, discernment pole tower information, archives the photo. But outdoor environment, pole number plate extremely has the spot to shelter from, leads to unable shooting discernment. Therefore, the gas storage bottle is arranged on the unmanned aerial vehicle 1, the second electromagnetic control valve is used for controlling the high-pressure gas to be sprayed out, and the gas spraying pipe is used for correspondingly spraying and removing the stains on the rod number plate. In the invention, an operator can control the unmanned aerial vehicle 1 on the simulation tower 2 to perform jet exercise.
The lifting mechanism comprises a screw rod 81 and a screw rod 81 motor, a screw rod seat 82 which is in sliding fit with the lifting track 4 is arranged on the annular track 3, screw rod 81 screw holes are formed in the screw rod seat 82 along the vertical direction, and the screw rod 81 is inserted into the screw rod 81 screw holes and is in linkage fit with the screw rod 81 motor; the travelling mechanism comprises a vehicle body in sliding fit with the annular rail 3, travelling wheels are rotatably arranged on the vehicle body, a travelling motor is fixedly arranged on the vehicle body, and the travelling wheels are in friction fit with the annular rail 3 and are in linkage fit with the travelling motor; the control terminal is in signal connection with the motor of the screw rod 81 and the walking motor.
By adopting the technical scheme, the annular track 3 and the travelling crane are controlled to move.
Claims (6)
1. A cooperate virtual operation training platform for unmanned aerial vehicle electric wire netting fortune to examine, its characterized in that: the unmanned aerial vehicle inspection system comprises a control terminal, an unmanned aerial vehicle with camera equipment, an analog pole tower and a detection positioning device, wherein the detection positioning device comprises an annular track surrounding the analog pole tower, a lifting track, a lifting driving mechanism and a plurality of driving mechanisms, the annular track is in vertical lifting sliding fit along the lifting track, the lifting driving mechanism is in linkage fit with the annular track to drive the annular track to lift, the plurality of driving mechanisms are arranged in the annular track and walk around the analog pole tower along the annular track, laser sensors are arranged on the plurality of driving mechanisms, the control terminal is in signal connection with the lifting mechanism, the driving mechanisms and the laser sensors, the positions of the driving mechanisms are controlled to be adjusted according to a hovering area defined by a path of the analog pole tower for inspection of the unmanned aerial vehicle, so that the laser pulses emitted by the plurality of laser sensors are correspondingly intersected in the hovering area defined by the inspection shooting of the unmanned aerial vehicle, and the laser sensor signals are sequentially triggered according to the hovering path;
the training platform comprises a training platform, a training platform and a control terminal, wherein the training platform is characterized in that a plurality of air bag type simulators are arranged on the simulation tower, each air bag type simulators comprises an air bag, an air passage and a first electromagnetic control valve for controlling the on-off of the air passage, the air bag is in the shape of an insulator string, the air bag is provided with an air inlet and an air outlet, the air inlet and the air outlet are respectively provided with the electromagnetic control valves, the training platform also comprises air source equipment, the plurality of air bag type simulators are respectively communicated with the air source equipment through the air passage, and the first electromagnetic control valves are in signal connection with the control terminal and control the air bag to be inflated and deflated;
the simulation tower is provided with a plurality of pneumatic simulation pieces, each pneumatic simulation piece comprises a base, a lifting rod, a lifting cylinder, a movable nut and an immovable nut, one end face of the base is fixedly connected with the immovable nut, a through hole coaxially arranged with the immovable nut is formed in the base, the lifting cylinder is fixedly connected with the other end face of the base and is in linkage fit with the lifting rod, the lifting rod penetrates through the immovable nut seat to be in sliding fit with the movable nut and is fixedly connected with the movable nut coaxially, the control terminal is in signal connection with the lifting cylinder, and the movable nut is controlled to be relatively attached to or far away from the immovable nut to simulate an elastic state;
the simulation tower is provided with a plurality of rotary simulation pieces, each rotary simulation piece comprises a base, a buckle body and a rotary motor, each buckle body is hinged with the base, each rotary motor is fixedly connected with the base and is in linkage fit with the corresponding buckle body, and the control terminal is connected with the rotary motor through signals and controls the buckle body to be folded or unfolded in a rotary mode relative to the base.
2. A collaborative virtual job training platform for unmanned aerial vehicle grid operations as set forth in any of claims 1, wherein: the training platform is arranged in the storehouse, the large-scale fan and a plurality of air outlet pipes distributed at all parts of the storehouse are further arranged in the storehouse, the air outlet pipes are all provided with an electric control door for controlling on-off and are all communicated with the large-scale fan, the control terminal is in signal connection with the large-scale fan and the electric control door, and unidirectional airflow or turbulent flow is formed in the storehouse.
3. A collaborative virtual job training platform for unmanned aerial vehicle grid operations as set forth in claim 2, wherein: and the storeroom is also internally provided with lighting equipment, and the control terminal is connected with the lighting equipment through signals and used for controlling the visibility in the storeroom.
4. A collaborative virtual job training platform for unmanned aerial vehicle grid operations as set forth in claim 3, wherein: and a sprayer is further arranged in the warehouse, and the control terminal is connected with the sprayer in a signal manner to control the visibility in the warehouse.
5. A collaborative virtual job training platform for unmanned aerial vehicle grid operations as set forth in claim 4, wherein: be equipped with gas bomb, jet-propelled pipe and the second electromagnetic control valve of control jet-propelled pipe break-make on the unmanned aerial vehicle, this jet-propelled pipe one end and gas bomb intercommunication, the other end extends outside unmanned aerial vehicle, second electromagnetic control valve and unmanned aerial vehicle control terminal signal connection.
6. A collaborative virtual job training platform for unmanned aerial vehicle grid operations as set forth in claim 5, wherein: the lifting mechanism comprises a screw rod and a screw rod motor, a screw rod seat which is in sliding fit with the lifting rail is arranged on the annular rail, a screw rod screw hole is formed in the screw rod seat along the vertical direction, and the screw rod is inserted into the screw rod screw hole and is in linkage fit with the screw rod motor; the travelling mechanism comprises a vehicle body in sliding fit with the annular rail, travelling wheels are rotatably arranged on the vehicle body, a travelling motor is fixedly arranged on the vehicle body, and the travelling wheels are in friction fit with the annular rail and are in linkage fit with the travelling motor; the control terminal is in signal connection with the screw motor and the walking motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024418.2A CN113628499B (en) | 2021-09-02 | 2021-09-02 | Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024418.2A CN113628499B (en) | 2021-09-02 | 2021-09-02 | Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and detection |
Publications (2)
| Publication Number | Publication Date |
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