CN113686309A - Power equipment transmission line generation system based on orthoimage data - Google Patents
Power equipment transmission line generation system based on orthoimage data Download PDFInfo
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- CN113686309A CN113686309A CN202110980206.5A CN202110980206A CN113686309A CN 113686309 A CN113686309 A CN 113686309A CN 202110980206 A CN202110980206 A CN 202110980206A CN 113686309 A CN113686309 A CN 113686309A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/14—Fourier, Walsh or analogous domain transformations, e.g. Laplace, Hilbert, Karhunen-Loeve, transforms
Abstract
The invention provides an orthoimage data-based power equipment power transmission line generation system which comprises an unmanned aerial vehicle, a detection device, a positioning device, an acquisition device, an obstacle avoidance device and a processor, wherein the detection device, the acquisition device and the obstacle avoidance device are all arranged on the unmanned aerial vehicle and are used for identifying obstacles or objects on the advancing route of the unmanned aerial vehicle; the positioning device is used for positioning the position of the power transmission frame so as to guide the direction of the unmanned aerial vehicle; the collecting device collects the transmission lines of two adjacent transmission racks and is used for determining the trend of a wiring diagram of the power equipment; keep away barrier device and be used for detecting the barrier of unmanned aerial vehicle traffic direction front end to the realization is to the discernment of barrier, the direction of marcing of adjustment unmanned aerial vehicle. According to the invention, the unmanned aerial vehicle is adopted to carry out simulation estimation based on the terrain environment, and the gradual fitting of the positioning device is combined to determine the direction of the power transmission frame and the power transmission line.
Description
Technical Field
The invention relates to the technical field of power equipment, in particular to a power equipment power transmission line generation system based on orthographic image data.
Background
The inspection of the transmission line is an important means for ensuring the safe and reliable operation of the transmission line, and one of the main tasks of the inspection is the inspection of a tower. The main targets of data acquisition in the inspection process according to the standard overhead transmission line operation regulation in the power industry are 1) towers and foundations: whether the tower body and the cross arm are damaged, rusted and deformed or not and whether the foundation and the stay wire are intact or not; 2) wire and ground: whether the strand is broken, damaged, loosened and hung with foreign matters; 3) insulator: the porcelain insulator has no damage, crack and burnout; whether the glass insulator has flashover or cracks or not; whether the composite insulator is damaged and cracked, seriously polluted and intact in structure; 4) hardware and accessories: the hardware fitting body has the defects of deformation, corrosion, burn, cracks, displacement, looseness and deformation of the damper and the grading ring, and bulge, overheating, burn and looseness of the connecting bolt of the continuous hardware fitting.
The prior art of CN102780177B discloses a method for collecting inspection data of an overhead power line based on a flying robot, and the traditional manual inspection has the disadvantages of large consumption of manpower and material resources, high safety risk, low inspection efficiency and inconvenient data recording and retrieval. At present, the machine inspection mode for actual production in China is mainly helicopter manned inspection, and according to the guidance of the overhead transmission line helicopter inspection technology, the requirement on inspection personnel for helicopter inspection is high, the safety risk in the inspection process is high, the equipment investment is large, and the inspection program is complex. A large number of existing technologies such as KR102247664B1, EP2418327B1 and US08423796B1 found through retrieval are required to be routed according to reserved power corridors in order to avoid disordered routing of the power lines due to scarcity of land resources by local planning departments, so that the power lines with different voltage levels of multiple loops are routed in the same corridors, and the distance between the power lines is small. The planning needs that can't satisfy reality, simultaneously, because high power transmission power line interval is less, hardly realize crossing power line and adopt simultaneously to bore more and the mode of strideing across through the corridor power line, and the power line interval is less causes the problem of power line short circuit triggering potential safety hazard easily. Meanwhile, if the number of the power transmission towers is increased, the investment is increased, the occupied area is also increased, and the connection is more complicated.
The method and the device are used for solving the problems that the pre-estimation of the power transmission line cannot be carried out, the labor intensity of manual detection is high, some areas cannot be overhauled manually, the trend of the wiring line cannot be estimated, the on-line evaluation cannot be carried out and the like generally existing in the field.
Disclosure of Invention
The invention aims to provide a power equipment power transmission line generation system based on ortho-image data, aiming at the defects of the conventional power installation wiring.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a power equipment power transmission line generation system based on orthographic image data comprises an unmanned aerial vehicle, a detection device, a positioning device, an acquisition device, an obstacle avoidance device and a processor, wherein the detection device, the acquisition device and the obstacle avoidance device are all arranged on the unmanned aerial vehicle and are used for identifying obstacles or objects on a traveling route of the unmanned aerial vehicle; the positioning device is used for positioning the position of the power transmission frame so as to guide the direction of the unmanned aerial vehicle; the acquisition device acquires the image data of the transmission lines of two adjacent transmission racks, and is used for determining the trend of a wiring diagram of the power equipment; the obstacle avoidance device is used for detecting an obstacle at the front end of the unmanned aerial vehicle in the running direction so as to realize the identification of the obstacle and adjust the advancing direction of the unmanned aerial vehicle; the processor is respectively in control connection with the unmanned aerial vehicle, the detection device, the positioning device, the acquisition device and the obstacle avoidance device;
the detection device comprises a detection mechanism and a steering mechanism, and the steering mechanism is used for adjusting the position of the detection mechanism; the detection mechanism is used for identifying the power transmission line of the advancing path of the unmanned aerial vehicle;
the detection mechanism comprises a detection probe, a data summarizing unit and a transmission unit, wherein a storage cavity for the data summarizing unit and the transmission unit is formed in the bottom of the detection probe; the detection probe acquires a plane structure diagram of a detection area, and when the plane structure diagram is projected to the surface of an object in the detection area (x, y), the surface of the object has diffuse reflection of different degrees, and the diffuse reflection is used for distinguishing the characteristics M (x, y) of the power transmission line, and the detection probe exists:
M(x,y)＝S(x,y)+D(x,y)cosφ(x,y)
wherein, S (x, y) is the background illumination intensity of the detection area; d (x, y) is the modulation depth of the transmission line; phi (x, y) is an image phase function in the detection region; m (x, y) is a transmission line characteristic; at least three images acquired by the acquisition probe are arbitrarily taken and subjected to Fourier series conversion to form an image phase diagram, and if image data projected by the image phase diagram moves by a phase delta 1, the image of the detection area also moves by the delta 1; fitting the trend of the power transmission line by using the characteristics of equidistant change of the delta 1 in a defined period; then, at this time, the above equation can be converted into:
M(x,y，δj)＝F(x,y)+G(x,y)cos(δj)+Q(x,y)sin(δj)
wherein F (x, y) ═ S (x, y);
G(x,y)＝D(x,y)cosφ(x,y)；
Q(x,y)＝-D(x,y)sinφ(x,y)
M(x,y，δj) Is a Fourier series representation of M (x, y); f (x, y) is a weighting factor; g (x, y) and Q (x, y) are weighting factors for the first order harmonic quantity.
Optionally, the steering mechanism includes a steering member and a lifting member, and the lifting member is used for adjusting the pitch angle of the detection mechanism disposed on the steering member; the steering component comprises a steering seat, an angle detection piece and an accommodating cavity, the accommodating cavity is arranged on the upper end face of the steering seat to form an accommodating groove, the detection mechanism is arranged in the accommodating groove, upright rods are symmetrically arranged on two sides of the detection mechanism, and the upright rods are hinged with the inner wall of the accommodating groove; the lifting member comprises a lifting rod and a lifting driving mechanism, one end of the lifting rod is in driving connection with the lifting driving mechanism to form a lifting part, the lifting part is arranged at the bottom of the accommodating groove, and the other end of the lifting rod extends out perpendicularly towards one side far away from the bottom of the accommodating groove and is hinged to the outer wall of the bottom end of the detection mechanism.
Optionally, the collecting device comprises a collecting mechanism and a clamping member, and the collecting mechanism is detachably connected with the lower end face of the unmanned aerial vehicle main body through the clamping member;
the acquisition mechanism is used for acquiring geographic data or image data of the traveling route of the unmanned aerial vehicle and transmitting the geographic data or the image data to ground receiving equipment through a communication module;
the acquisition mechanism comprises an acquisition probe, a supporting cavity, an expansion component and a plurality of survey plates, wherein the acquisition probe is arranged at the front end of the supporting cavity;
each survey plate is arranged on the periphery of the support cavity, so that the survey plates can be folded along the hinge position;
the deployment member is disposed within the interior cavity of the support cavity and is in driving connection with each of the survey plates.
Optionally, the obstacle avoidance device includes an obstacle avoidance mechanism and an adjusting mechanism, and the adjusting mechanism is used for adjusting the posture of the unmanned aerial vehicle; the obstacle avoidance mechanism is used for detecting the position of an obstacle and adjusting the posture of the unmanned aerial vehicle through the adjusting mechanism; the obstacle avoidance mechanism comprises an identification probe and a distance detection component, the distance detection component is used for identifying the distance between the unmanned aerial vehicle and the obstacle, and the identification probe is used for collecting the position and the shape of the obstacle; the adjusting mechanism comprises an adjusting module and an attitude acquisition module, and the adjusting module is used for adjusting the ascending driving force of the unmanned aerial vehicle; the gesture collection module is used for collecting the gesture of the unmanned aerial vehicle in real time and returning the current gesture of the unmanned aerial vehicle to the processor.
Optionally, the positioning device includes a positioning mechanism and a guiding mechanism, and the positioning mechanism is used for positioning the position of the power transmission rack; the guiding mechanism is used for guiding the positions of the positioning mechanism and the unmanned aerial vehicle; the positioning mechanism comprises a supporting member and a limiting member, wherein the limiting member is arranged on the outer wall of the supporting member and extends out towards one end of the supporting member; the supporting member comprises a supporting seat, a communication module and supporting bulges, wherein the supporting bulges are arranged on the outer wall of the supporting seat and are distributed at equal intervals along the peripheral side of the supporting seat; the supporting bulge is used for supporting the limiting component; the communication module sets up the top of supporting seat for with receiving arrangement or unmanned aerial vehicle carries out communication transmission.
Optionally, the unfolding component comprises a rotating gear seat, a rack seat, a fixed gear, a turnover gear, a stroke detection piece, a transmission rod and an unfolding driving mechanism,
the inner wall of the support cavity is provided with a sliding cavity for accommodating the rack seat, and the stroke detection pieces are arranged on the inner walls of the head end and the tail end of the sliding cavity so as to detect the moving stroke of the rack seat;
the rotary gear seat is hinged with the edge of one side end face of the support cavity to form a joint part; the overturning gear is arranged on one side of the hinged part of the rotating gear and the supporting cavity;
the rotary gear seat is provided with a limiting hole for limiting the surveying plate, one end of the surveying plate close to the supporting cavity is provided with a limiting rod, one end of the limiting rod is connected with the surveying plate body, the other end of the limiting rod penetrates through the limiting hole, the end part of the limiting rod is nested with a fixed gear, and the two side edges of the limiting hole in the gear seat body are provided with auxiliary gears; the fixed gear is meshed with the overturning gear and the auxiliary gear respectively;
the rack seat comprises a plurality of racks, a fixed plate and transmission holes arranged on the fixed plate, each rack is arranged on the periphery of the fixed plate and extends out towards one side of the fixed plate, one end of the transmission rod is nested with the transmission holes and is in driving connection with the transmission holes, so that the fixed plate can be lifted up and down; the unfolding driving mechanism is in driving connection with the other end of the transmission rod.
Optionally, the limiting member includes a plurality of limiting plate, telescopic link and flexible actuating mechanism, each the one end of limiting plate with the support arch that the supporting member outer wall set up is articulated, the other end of limiting plate is unsettled to stretch out, the one end of telescopic link with the body of rod of limiting plate is articulated, the other end of telescopic link with the support arch that the supporting member outer wall set up is articulated, flexible actuating mechanism with the telescopic link drive is connected, makes it open or closed.
Optionally, the guide member includes a guide seat, a follower rod, and a follower driving mechanism, the guide seat is disposed on an outer wall of the support cavity, and faces a direction to be detected during detection, so as to obtain guidance for the drone; the guide seat is provided with an offset groove for the movement of the follower rod, one end of the follower rod penetrates through the offset groove, and the other end of the follower rod is in driving connection with the follower driving mechanism; and a signal generator is arranged on the rod body of the follower rod and used for transmitting a positioning signal of the unmanned aerial vehicle.
Receiving equipment includes display screen and signal acquisition module, the display screen is used for showing current detection data, signal acquisition module is used for receiving or transmitting unmanned aerial vehicle and setting are in unmanned aerial vehicle last detection device keep away the barrier device collection device and positioner's signal.
Optionally, the inner wall of the transmission hole is provided with threads, the outer wall of the rod body of the transmission rod is provided with insections, and the threads on the transmission hole are meshed with the insections on the transmission rod when the transmission rod is nested.
Optionally, the receiving device includes a display screen and a signal acquisition module, the display screen is used for displaying current detection data, the signal acquisition module is used for receiving or transmitting unmanned aerial vehicle and setting up unmanned aerial vehicle last detection device keep away the barrier device collection device and positioner's signal.
The beneficial effects obtained by the invention are as follows:
1. the method comprises the steps that an unmanned aerial vehicle is adopted to simulate and estimate the setting area of a power transmission frame based on the terrain environment, and the directions of the power transmission frame and a power transmission line are determined by combining the gradual fitting of a positioning device;
2. data acquisition is carried out on the unmanned aerial vehicle at the position between two adjacent power transmission frames, so that a wiring diagram of a power transmission line between the two power transmission frames is obtained;
3. the position and the trend route map of the power transmission line can be accurately detected by matching the receiving equipment with the detection device, the acquisition device, the obstacle avoidance device and the positioning device;
4. the advancing direction of the unmanned aerial vehicle is guided by the positioning device, so that the unmanned aerial vehicle can evaluate the trend of the power transmission line or the power transmission line in the process of detecting the line of the power transmission frame; based on the evaluation of the transmission line, the generation of a wiring diagram of the transmission line is realized;
5. by adopting the mutual matching between the steering component and the lifting component, the detection mechanism can deflect the angle to obtain the optimal shooting angle;
6. through adopting positioning mechanism and guiding mechanism to mutually support for unmanned aerial vehicle can guide unmanned aerial vehicle's direction of travel at the in-process that detects, realizes that transmission line's wiring direction can be estimated by the accuracy.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle and the acquisition device.
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle.
Fig. 3 is a schematic structural diagram of the unmanned aerial vehicle.
Fig. 4 is a schematic structural diagram of the collecting device.
Fig. 5 is a partial structural detail schematic diagram of the acquisition device.
Fig. 6 is a schematic structural diagram of the positioning device.
Fig. 7 is a partially cut-away schematic view of the positioning device.
Fig. 8 is a schematic view of an application scenario of the present invention.
The reference numbers illustrate: 1-unmanned aerial vehicle; 2-collecting the probe; 3-a collecting device; 4-collecting the probe; 5-surveying the plate; 6-supporting the cavity; 7-overturning the gear; 8-fixed gear; 9- -rotating the gear seat; 10-an auxiliary gear; 11-a rack; 12-a transmission rod; 13-rack seat; 14-a communication module; 15-a support seat; 16-a limiting plate; 17-a telescopic rod; 18-a support projection; 19-a signal generator; 20-an offset slot; 21-a follower rod; 22-a guide seat; 23-follower gear.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper" and "lower" and "left" and "right" etc., it is only for convenience of description and simplification of the description based on the orientation or positional relationship shown in the drawings, but it is not indicated or implied that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows: according to fig. 1 to 8, an orthoimage data-based power equipment transmission line generation system is provided, which includes an unmanned aerial vehicle, a detection device, a positioning device, an acquisition device, an obstacle avoidance device and a processor, wherein the detection device, the acquisition device and the obstacle avoidance device are all arranged on the unmanned aerial vehicle, and identify obstacles or objects on a traveling route of the unmanned aerial vehicle; the positioning device is used for positioning the position of the power transmission frame so as to guide the direction of the unmanned aerial vehicle; the acquisition device acquires the image data of the transmission lines of two adjacent transmission racks, and is used for determining the trend of a wiring diagram of the power equipment; the obstacle avoidance device is used for detecting an obstacle at the front end of the unmanned aerial vehicle in the running direction so as to realize the identification of the obstacle and adjust the advancing direction of the unmanned aerial vehicle; the processor is respectively in control connection with the unmanned aerial vehicle, the detection device, the positioning device, the acquisition device and the obstacle avoidance device; the processor is in control connection with the unmanned aerial vehicle, the detection device, the positioning device, the acquisition device and the obstacle avoidance device, so that the power transmission line can be accurately pre-estimated, and the optimal power transmission line path is obtained; the unmanned aerial vehicle comprises a microcontroller, and the microcontroller is used for controlling the rotation, steering or movement of a propeller of the unmanned aerial vehicle; the positioning device is arranged on a point position of a power transmission frame in the using process, and meanwhile, the unmanned aerial vehicle is subjected to data acquisition at the position between two adjacent power transmission frames to obtain a wiring diagram of a power transmission line between the two power transmission frames;
the unmanned aerial vehicle detection system comprises an unmanned aerial vehicle, and is characterized by further comprising receiving equipment, wherein the receiving equipment is arranged to be portable, so that the receiving equipment can be used in different detection scenes, meanwhile, the receiving equipment comprises a display screen and a signal acquisition module, the display screen is used for displaying current detection data, and the signal acquisition module is used for receiving or transmitting signals of the unmanned aerial vehicle and signals of the detection device, the obstacle avoidance device, the acquisition device and the positioning device which are arranged on the unmanned aerial vehicle; the position and the trend route map of the power transmission line can be accurately detected through the matching of the receiving equipment, the detection device, the acquisition device, the obstacle avoidance device and the positioning device; in addition, the portable receiving equipment can be more conveniently carried when being used in the maintenance process of the power transmission line, and the maneuverability of the whole system is further improved;
in the using process, the advancing direction of the unmanned aerial vehicle is guided through the positioning device, so that the unmanned aerial vehicle can evaluate the trend of the power transmission line or the power transmission line in the process of detecting the line of the power transmission frame; generating a wiring diagram of the power transmission line by evaluating the power transmission line;
the detection device comprises a detection mechanism and a steering mechanism, and the steering mechanism is used for adjusting the position of the detection mechanism; the detection mechanism is used for identifying the power transmission line of the advancing path of the unmanned aerial vehicle; the detection mechanism is matched with the steering mechanism, so that the detection probe can be operated by rotating the steering mechanism in the detection process, and the detection mechanism is more accurate and reliable in the process of acquiring image data;
optionally, the steering mechanism includes a steering member and a lifting member, and the lifting member is used for adjusting the pitch angle of the detection mechanism disposed on the steering member;
the steering component comprises a steering seat, an angle detection piece and an accommodating cavity, the accommodating cavity is arranged on the upper end face of the steering seat to form an accommodating groove, the detection mechanism is arranged in the accommodating groove, upright rods are symmetrically arranged on two sides of the detection mechanism, and the upright rods are hinged with the inner wall of the accommodating groove;
the lifting member comprises a lifting rod and a lifting driving mechanism, one end of the lifting rod is in driving connection with the lifting driving mechanism to form a lifting part, the lifting part is arranged at the bottom of the accommodating groove, and the other end of the lifting rod extends out perpendicularly towards one side far away from the bottom of the accommodating groove and is hinged with the outer wall of the bottom end of the detection mechanism and rotates along the hinged position under the lifting operation of the lifting member; the steering mechanism is hidden in the body of the unmanned aerial vehicle, and is guided by the positioning devices in the process that the detection mechanism collects the image, the lifting driving mechanism drives the lifting rod according to the direction of one of the positioning devices, so that the detection mechanism moves in parallel along the direction limited by the two positioning devices, and the image data collected by the detection mechanism in the moving process of the lifting part is collected; the lifting member comprises a lifting detection piece, the lifting detection piece is used for detecting the lifting height of the lifting rod, feeding the lifting height back to the microcontroller or the processor, and controlling the lifting height of the lifting driving mechanism by the microcontroller or the processor; through the mutual matching between the steering component and the lifting component, the detection mechanism can deflect the angle to obtain the optimal shooting angle; in addition, by means of deviation or adjustment of the angle of the detection mechanism, the detection mechanism can acquire images of a detection position or a detection area without adjusting the flight posture of the unmanned aerial vehicle in the process of acquiring image data, and detection accuracy of the detection mechanism is improved;
the detection mechanism comprises a detection probe, a data summarizing unit and a transmission unit, wherein a storage cavity for the data summarizing unit and the transmission unit is formed in the bottom of the detection probe; the detection probe acquires the plane structure image data of a detection area, and when the plane structure image data is projected to the surface of an object in the detection area (x, y), the surface of the object has diffuse reflection of different degrees, and the detection probe is used for distinguishing the characteristics M (x, y) of the power transmission line, and the detection probe exists:
M(x,y)＝S(x,y)+D(x,y)cos(φ(x,y))
wherein, S (x, y) is the background illumination intensity of the detection area; d (x, y) is the modulation depth of the transmission line; phi (x, y) is an image phase function in the detection region; m (x, y) is a transmission line characteristic; at least three images acquired by the acquisition probe are arbitrarily taken and subjected to Fourier series conversion to form an image phase diagram, and if image data projected by the image phase diagram moves by a phase delta 1, the image of the detection area also moves by the delta 1; fitting the trend of the power transmission line by using the characteristics of equidistant change of the delta 1 in a defined period; then, at this time, the above equation can be converted into:
M(x,y，δj)＝F(x,y)+G(x,y)cos(δj)+Q(x,y)sin(δj)
wherein F (x, y) ═ S (x, y);
G(x,y)＝D(x,y)cosφ(x,y)；
Q(x,y)＝-D(x,y)sinφ(x,y)
M(x,y，δj) Is a Fourier series representation of M (x, y); f (x, y) is a weighting factor; g (x, y) and Q (x, y) are weight factors of first-order harmonic quantity;
let deltajComprises the following steps:
wherein, C is the number of sampling points in one detection period T, the value is a positive integer, and meanwhile, the phase offset is deltajMap of position detectionThe intensity value of the characteristic of the power transmission line is M (x, y, delta)j) (ii) a Based on this, the properties (orthogonality) of the trigonometric functions can be used to find:
then there is:
wherein, the above equation, in combination with the phase shift in one detection period T, is converted into:
in the above formula, the first and second carbon atoms are,
the total phase shift amount of the image data in one detection period is 2 pi in this embodiment; i is; the calibration parameter may have a value determined by performing a phase unwrapping technique according to a phase map of the corresponding image data, and in particular, the phase unwrapping may be performed by adding or subtracting 2 pi at each pixel according to a phase difference between adjacent pixels, for example: the simplest two-dimensional phase unwrapping is to divide the problem of two-dimensional unwrapping into two one-dimensional phase unwrapping, namely: headFirstly, performing one-dimensional phase expansion in the row direction or the column direction, then performing one-dimensional phase expansion on the obtained one-column value or one-row value in the other direction to obtain an expanded two-dimensional image; phi (x, y) is the split phase in one detection period; phi is aT(x, y) are successive phases in one detection cycle; meanwhile, when the phase evaluation is carried out on the image data acquired by the acquisition probe, the image data can be processed by utilizing Fourier transform to obtain a phase diagram or an amplitude diagram of the image to be detected;
optionally, the collecting device collects the geographical position of the trend of the transmission line besides collecting the image data of the transmission lines of two adjacent transmission racks, and is used for determining the trend of the wiring diagram of the power equipment; namely: collecting terrain data such as the distance of the obstacle or a valley and the like for evaluating the trend of the power transmission line;
the acquisition device comprises an acquisition mechanism and a clamping component, and the acquisition mechanism is detachably connected with a clamping cavity arranged on the lower end face of the unmanned aerial vehicle main body through the clamping component; the acquisition mechanism is used for acquiring geographic data or image data of the traveling route of the unmanned aerial vehicle and transmitting the geographic data or the image data to ground receiving equipment through a communication module; the lower end face of the main body of the unmanned aerial vehicle is detachably connected through the clamping action of the clamping component by the acquisition mechanism; meanwhile, when the power transmission line is required to be inspected singly, the acquisition device is not required to be mounted; however, when applied to the simulation or evaluation of the wiring diagram of the transmission circuit of the power transmission frame, the acquisition device must be loaded; in addition, a clamping cavity for dismounting and clamping the acquisition device card is arranged on the lower end face of the unmanned aerial vehicle main body, and the clamping component is arranged on the bottom wall of the clamping cavity and used for clamping one end of the acquisition device; meanwhile, the circumference of one end of the acquisition device clamped with the clamping cavity is matched with the aperture of the clamping cavity, so that the acquisition device can be stably clamped in the clamping cavity; the locking structure of the snap member is a technical means known to those skilled in the art, and those skilled in the art can query a related technical manual to obtain the technology, so that details are not repeated in this embodiment;
the acquisition mechanism comprises an acquisition probe, a supporting cavity, an expansion component and a plurality of survey plates, wherein the acquisition probe is arranged at the front end of the supporting cavity; each survey plate is arranged on the periphery of the support cavity, so that the survey plates can be folded along the hinge position; the deployment member is disposed within the lumen of the support cavity and is in driving connection with each of the survey plates; the acquisition probe is arranged at the front end of the support cavity and is used for acquiring image data of the power transmission line; the unfolding component is used for driving each survey plate to be adjusted; in addition, each survey plate is in a folded state in a non-working state; particularly, each survey board is provided with one or more of a detection radar, a laser ranging sensor, an infrared scanner or an infrared radiation detector;
optionally, the unfolding component includes a rotating gear seat, a rack seat, a fixed gear, a turnover gear, a stroke detector, a transmission rod and an unfolding driving mechanism, a sliding cavity for accommodating the rack seat is formed in the inner wall of the supporting cavity, and the stroke detector is arranged on the inner walls of the head end and the tail end of the sliding cavity to detect the moving stroke of the rack seat; the rotary gear seat is hinged with the edge of one side end face of the support cavity to form a joint part; the overturning gear is arranged on one side of the hinged part of the rotating gear and the supporting cavity; the rotary gear seat is provided with a limiting hole for limiting the surveying plate, one end of the surveying plate close to the supporting cavity is provided with a limiting rod, one end of the limiting rod is connected with the surveying plate body, the other end of the limiting rod penetrates through the limiting hole, the end part of the limiting rod is nested with a fixed gear, and one side edge of the limiting hole in the gear seat body is provided with an auxiliary gear; the fixed gear is meshed with the overturning gear and the auxiliary gear respectively; the rack seat comprises a plurality of racks, a fixed plate and transmission holes arranged on the fixed plate, each rack is arranged on the periphery of the fixed plate and extends out towards one side of the fixed plate, one end of the transmission rod is nested with the transmission holes and is in driving connection with the transmission holes, so that the fixed plate can be lifted up and down; the unfolding driving mechanism is in driving connection with the other end of the transmission rod; driving each survey plate through the unfolding component to realize synchronous unfolding or folding of each survey plate; in addition, the unfolding driving mechanism is arranged at one end, far away from the acquisition probe, of the support cavity and drives the rotating gear seat to rotate through the transmission rod, so that the survey plates are synchronously unfolded or folded; optionally, the inner wall of the transmission hole is provided with threads, the outer wall of the rod body of the transmission rod is provided with insections, and when the transmission rod is nested, the threads on the transmission hole are meshed with the insections on the transmission rod;
optionally, the obstacle avoidance device includes an obstacle avoidance mechanism and an adjusting mechanism, and the adjusting mechanism is used for adjusting the posture of the unmanned aerial vehicle; the obstacle avoidance mechanism is used for detecting the position of an obstacle and adjusting the posture of the unmanned aerial vehicle through the adjusting mechanism; the obstacle avoidance mechanism comprises an identification probe and a distance detection component, the distance detection component is used for identifying the distance between the unmanned aerial vehicle and the obstacle, and the identification probe is used for collecting the position and the shape of the obstacle; the adjusting mechanism comprises an adjusting module and an attitude acquisition module, and the adjusting module is used for adjusting the ascending driving force of the unmanned aerial vehicle; the attitude acquisition module is used for acquiring the attitude of the unmanned aerial vehicle in real time and transmitting the current attitude of the unmanned aerial vehicle back to the processor; the distance detection means includes, but is not limited to, the following listed ones: sensors for detecting obstacles, such as a distance sensor, an infrared sensor, and a detection radar; the identification probe is arranged on the periphery of the unmanned aerial vehicle and used for identifying data of the unmanned aerial vehicle in all directions such as front, back, left and right directions of the advancing direction of the unmanned aerial vehicle and judging whether an obstacle appears in the advancing process of the unmanned aerial vehicle based on the data of the identification probe and the distance detection component; meanwhile, the posture of the unmanned aerial vehicle is adjusted according to the position of the obstacle so as to adapt to the evaluation of different power transmission lines; meanwhile, in the process of avoiding the obstacle, the position of the obstacle is recorded, and if the direction of the power transmission line is determined, the obstacle is cleaned or cleared, so that the safety of the power transmission line is effectively ensured; through the mutual matching of the adjusting mechanism and the obstacle avoidance mechanism, the unmanned aerial vehicle can carry out autonomous obstacle avoidance or semi-active obstacle avoidance in the process of surveying the power transmission line, the labor intensity of an operator is effectively improved, and meanwhile, the accurate detection of the power transmission line is further improved;
optionally, the positioning device includes a positioning mechanism and a guiding mechanism, and the positioning mechanism is used for positioning the position of the power transmission rack; the guiding mechanism is used for guiding the positions of the positioning mechanism and the unmanned aerial vehicle; the positioning mechanism comprises a supporting member and a limiting member, wherein the limiting member is arranged on the outer wall of the supporting member and extends out towards one end of the supporting member; the supporting member comprises a supporting seat, a communication module and supporting bulges, wherein the supporting bulges are arranged on the outer wall of the supporting seat and are distributed at equal intervals along the peripheral side of the supporting seat; the supporting bulge is used for supporting the limiting component; the communication module is arranged at the top of the supporting seat and used for carrying out communication transmission with the receiving equipment or the unmanned aerial vehicle; the positioning mechanism is matched with the guide mechanism, so that the unmanned aerial vehicle can guide the advancing direction of the unmanned aerial vehicle in the detection process, and the wiring direction of the power transmission line can be accurately estimated; in the using process of the positioning device, the trend or the direction of the power transmission line can be accurately evaluated by placing the positioning device at the estimated position and evaluating the power transmission line matched with the unmanned aerial vehicle; if the position of the positioning device does not meet the set requirement, transferring the position of the positioning device and pre-estimating different conditions; in addition, the setting area of the power transmission frame is simulated and estimated through the unmanned aerial vehicle based on the terrain environment, and the directions of the power transmission frame and the power transmission line are determined by combining the gradual fitting of the positioning device;
meanwhile, the positioning device is clamped on the wiring terminal and used for simulating the position between the two terminals, so that the unmanned aerial vehicle can acquire image data of a wiring line between the two terminals and generate optimal wiring parameters and a wiring diagram;
optionally, the limiting member includes a plurality of limiting plates, a telescopic rod and a telescopic driving mechanism, one end of each limiting plate is hinged to a supporting protrusion arranged on the outer wall of the supporting member, the other end of each limiting plate is suspended and extends out, one end of the telescopic rod is hinged to a rod body of the limiting plate, the other end of the telescopic rod is hinged to a supporting protrusion arranged on the outer wall of the supporting member, and the telescopic driving mechanism is in driving connection with the telescopic rod to enable the telescopic rod to be opened or closed; the limiting component is used for fixing the supporting component, so that the supporting component can be stably limited with the ground or clamped with an object; each limiting rod is driven by the telescopic rod and the telescopic driving mechanism to be gathered or unfolded so as to stably support the supporting member;
optionally, the guide member includes a guide seat, a follower rod, and a follower driving mechanism, the guide seat is disposed on an outer wall of the support cavity, and faces a direction to be detected during detection, so as to obtain guidance for the drone; the guide seat is provided with an offset groove for the movement of the follower rod, and one end of the follower rod penetrates through the offset groove and is in driving connection with the follower driving mechanism; a signal generator is arranged on the rod body at the other end of the follower rod and used for transmitting a positioning signal of the unmanned aerial vehicle; the guiding component is used for detecting the position of the signal generator to guide the unmanned aerial vehicle; meanwhile, the follower rod is in driving connection with the follower driving mechanism and slides along the offset groove based on the operation of the follower driving mechanism; in addition, the groove of the offset groove is parallel to the length direction of the guide seat; the guide component also comprises a driving gear, an angle detection piece and a follow-up gear, and the driving gear is in driving connection with the follow-up driving mechanism and drives the follow-up gear to rotate; one end of the follower rod, which is close to the follower driving mechanism, is provided with a follower gear, and the follower gear is meshed with the driving gear so as to realize the adjustment of the follower rod; the angle detection member is used for detecting the deflection angle of the follower rod, so that the deflection angle of the follower rod can be accurately detected.
Example two: the present embodiment should be understood to include at least all the features of any one of the foregoing embodiments, and further modified based on that, according to fig. 1-8, the adjusting mechanism is applied to the obstacle avoidance operation of the unmanned aerial vehicle, the adjusting mechanism is connected with the microcontroller and the propeller control of the unmanned aerial vehicle, and when the distance detection component detects the data of the obstacle, the adjusting mechanism is marked as an early warning state, and the obstacle avoidance operation is performed; the obstacle avoidance operation comprises: the method comprises the steps that avoidance configuration information is received through an adjusting module, the avoidance configuration information is provided with a plurality of avoidance categories, each avoidance category is provided with a plurality of severity levels, and each severity level is associated with data collected by an obstacle avoidance mechanism;
the adjustment module receives several data including: flight plan information including a flight route defined from the start position of the positioning device marker to the end position of the positioning device marker, an avoidance region, an instruction of an avoidance type corresponding to the avoidance region, and an instruction of a severity level corresponding to the avoidance region;
wherein the avoidance area is determined based on an identification probe and a distance detection member of the obstacle avoidance mechanism; the advancing route of the unmanned aerial vehicle comprises at least one avoidance crossing section, and the avoidance crossing section corresponds to the advancing route of the unmanned aerial vehicle in an avoidance area;
calculating a severity level related to the travel route of the unmanned aerial vehicle by the adjusting module, wherein the severity level is based on the distance of the avoidance crossing section and a multiplier value related to the severity corresponding to the avoidance area;
comparing, by the adjustment module, the severity level associated with the route of travel of the drone to a threshold; when the severity level associated with the route of travel of the drone exceeds a safety threshold, the adjustment module identifies the avoidance area as non-traversable;
generating, by the adjustment module, an area marking providing at least one of the standardized marking, the unmanned aerial vehicle's path of travel, and the avoidance area; wherein the visual representation of the avoidance region is labeled a first color in response to identifying the avoidance region as traversable, and wherein the visual representation of the avoidance region is labeled a second color in response to identifying the avoidance region as non-traversable;
wherein the avoidance categories include an avoidance category corresponding to a travel zone limit for the drone, the travel zone limit for the drone having a severity level with a first warning value indicating a valid drone's travel zone limit or a second warning value indicating no drone's travel zone limit exists; the second early warning value is limited to be smaller than the first early warning value in the traveling area, so that the operation safety of the unmanned aerial vehicle is effectively avoided, and the unmanned aerial vehicle is prevented from being crashed or damaged due to collision with the obstacle; when the travel plan information of the drone relates to an avoidance category corresponding to a travel area limit of the drone and a severity level having a first warning value, the adjustment module identifies the avoidance area as non-traversable; the adjustment module calculates a first distance value associated with a first non-traversing segment, wherein the first non-traversing segment corresponds to a portion between a starting location of a travel route of the drone and an entry point of an avoidance zone; calculating, by the adjustment module, a second distance value associated with a second non-traversed segment, wherein the second non-traversed segment corresponds to a portion of the route of travel of the drone between the exit point and the end location of the avoidance area;
the severity level is equal to the sum of: the distance value of the avoidance crossing section is multiplied by a multiplier value; wherein the severity level is calculated based on an amount of fuel usage values associated with the avoidance traversal segment.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (10)
1. A power equipment power transmission line generation system based on ortho-image data is characterized by comprising an unmanned aerial vehicle, a detection device, a positioning device, an acquisition device, an obstacle avoidance device and a processor, wherein the detection device, the acquisition device and the obstacle avoidance device are all arranged on the unmanned aerial vehicle and are used for identifying obstacles or objects on the advancing route of the unmanned aerial vehicle; the positioning device is used for positioning the position of the power transmission frame so as to guide the direction of the unmanned aerial vehicle; the acquisition device acquires the image data of the transmission lines of two adjacent transmission racks, and is used for determining the trend of a wiring diagram of the power equipment; the obstacle avoidance device is used for detecting an obstacle at the front end of the unmanned aerial vehicle in the running direction so as to realize the identification of the obstacle and adjust the advancing direction of the unmanned aerial vehicle; the processor is respectively in control connection with the unmanned aerial vehicle, the detection device, the positioning device, the acquisition device and the obstacle avoidance device;
the detection device comprises a detection mechanism and a steering mechanism, and the steering mechanism is used for adjusting the position of the detection mechanism; the detection mechanism is used for identifying the power transmission line of the advancing path of the unmanned aerial vehicle;
the detection mechanism comprises a detection probe, a data summarizing unit and a transmission unit, wherein a storage cavity for storing the data summarizing unit and the transmission unit is formed in the bottom of the detection probe; the detection probe acquires a plane structure diagram of a detection area, and when the plane structure diagram is projected to the surface of an object in the detection area (x, y), the surface of the object has diffuse reflection of different degrees, and the diffuse reflection is used for distinguishing the characteristics M (x, y) of the power transmission line, and the detection probe exists:
M(x,y)＝S(x,y)+D(x,y)cosφ(x,y)
wherein, S (x, y) is the background illumination intensity of the detection area; d (x, y) is the modulation depth of the transmission line; phi (x, y) is an image phase function in the detection region; m (x, y) is a transmission line characteristic; at least three images acquired by the acquisition probe are arbitrarily taken and subjected to Fourier series conversion to form an image phase diagram, and if image data projected by the image phase diagram moves by a phase delta 1, the image of the detection area also moves by the delta 1; fitting the trend of the power transmission line by using the characteristics of equidistant change of the delta 1 in a defined period; then, at this time, the above equation is converted into:
M(x,y，δj)＝F(x,y)+G(x,y)cos(δj)+Q(x,y)sin(δj)
wherein F (x, y) ═ S (x, y);
G(x,y)＝D(x,y)cosφ(x,y)；
Q(x,y)＝-D(x,y)sinφ(x,y)
M(x,y，δj) Is a Fourier series representation of M (x, y); f (x, y) is a weighting factor; g (x, y) and Q (x, y) are weighting factors for the first order harmonic quantity.
2. The system for generating the power equipment transmission line based on the ortho-image data as claimed in claim 1, wherein the steering mechanism comprises a steering component and a lifting component, and the lifting component is used for adjusting the pitch angle of the detection mechanism arranged on the steering component; the steering component comprises a steering seat, an angle detection piece and an accommodating cavity, the accommodating cavity is arranged on the upper end face of the steering seat to form an accommodating groove, the detection mechanism is arranged in the accommodating groove, upright rods are symmetrically arranged on two sides of the detection mechanism, and the upright rods are hinged with the inner wall of the accommodating groove; the lifting member comprises a lifting rod and a lifting driving mechanism, one end of the lifting rod is in driving connection with the lifting driving mechanism to form a lifting part, the lifting part is arranged at the bottom of the accommodating groove, and the other end of the lifting rod extends out perpendicularly towards one side far away from the bottom of the accommodating groove and is hinged to the outer wall of the bottom end of the detection mechanism.
3. The system for generating the power equipment power transmission line based on the ortho-image data as claimed in claim 2, wherein the collecting device comprises a collecting mechanism and a clamping member, and the collecting mechanism is detachably connected with a clamping cavity arranged on the lower end face of the unmanned aerial vehicle main body through the clamping member;
the acquisition mechanism is used for acquiring geographic data or image data of the traveling route of the unmanned aerial vehicle and transmitting the geographic data or the image data to ground receiving equipment through a communication module;
the acquisition mechanism comprises an acquisition probe, a supporting cavity, an expansion component and a plurality of survey plates, wherein the acquisition probe is arranged at the front end of the supporting cavity;
each survey plate is arranged on the periphery of the support cavity, so that the survey plates can be folded along the hinge position;
the deployment member is disposed within the interior cavity of the support cavity and is in driving connection with each of the survey plates.
4. The system for generating the power equipment power transmission line based on the ortho-image data as claimed in claim 3, wherein the obstacle avoidance device comprises an obstacle avoidance mechanism and an adjustment mechanism, and the adjustment mechanism is used for adjusting the posture of the unmanned aerial vehicle; the obstacle avoidance mechanism is used for detecting the position of an obstacle and adjusting the posture of the unmanned aerial vehicle through the adjusting mechanism; the obstacle avoidance mechanism comprises an identification probe and a distance detection component, the distance detection component is used for identifying the distance between the unmanned aerial vehicle and the obstacle, and the identification probe is used for collecting the position and the shape of the obstacle; the adjusting mechanism comprises an adjusting module and an attitude acquisition module, and the adjusting module is used for adjusting the ascending driving force of the unmanned aerial vehicle; the gesture collection module is used for collecting the gesture of the unmanned aerial vehicle in real time and returning the current gesture of the unmanned aerial vehicle to the processor.
5. The system for generating the power equipment power transmission line based on the ortho-image data as claimed in claim 4, wherein the positioning device comprises a positioning mechanism and a guiding mechanism, and the positioning mechanism is used for positioning the position of the power transmission frame; the guiding mechanism is used for guiding the positions of the positioning mechanism and the unmanned aerial vehicle; the positioning mechanism comprises a supporting member and a limiting member, wherein the limiting member is arranged on the outer wall of the supporting member and extends out towards one end of the supporting member; the supporting member comprises a supporting seat, a communication module and supporting bulges, wherein the supporting bulges are arranged on the outer wall of the supporting seat and are distributed at equal intervals along the peripheral side of the supporting seat; the supporting bulge is used for supporting the limiting component; the communication module sets up the top of supporting seat for with receiving arrangement or unmanned aerial vehicle carries out communication transmission.
6. The system of claim 5, wherein the unfolding component comprises a rotary gear seat, a rack seat, a fixed gear, a turnover gear, a stroke detector, a transmission rod and an unfolding driving mechanism,
the inner wall of the support cavity is provided with a sliding cavity for accommodating the rack seat, and the stroke detection pieces are arranged on the inner walls of the head end and the tail end of the sliding cavity so as to detect the moving stroke of the rack seat;
the rotary gear seat is hinged with the edge of one side end face of the support cavity to form a joint part; the overturning gear is arranged on one side of the hinged part of the rotating gear and the supporting cavity;
the rotary gear seat is provided with a limiting hole for limiting the surveying plate, one end of the surveying plate close to the supporting cavity is provided with a limiting rod, one end of the limiting rod is connected with the surveying plate body, the other end of the limiting rod penetrates through the limiting hole, the end part of the limiting rod is nested with a fixed gear, and the two side edges of the limiting hole in the gear seat body are provided with auxiliary gears; the fixed gear is meshed with the overturning gear and the auxiliary gear respectively;
the rack seat comprises a plurality of racks, a fixed plate and transmission holes arranged on the fixed plate, each rack is arranged on the periphery of the fixed plate and extends out towards one side of the fixed plate, one end of the transmission rod is nested with the transmission holes and is in driving connection with the transmission holes, so that the fixed plate can be lifted up and down; the unfolding driving mechanism is in driving connection with the other end of the transmission rod.
7. The system according to claim 6, wherein the limiting member comprises a plurality of limiting plates, a telescopic rod and a telescopic driving mechanism, one end of each limiting plate is hinged to a supporting protrusion arranged on the outer wall of the supporting member, the other end of each limiting plate extends out in the air, one end of the telescopic rod is hinged to a rod body of the limiting plate, the other end of the telescopic rod is hinged to a supporting protrusion arranged on the outer wall of the supporting member, and the telescopic driving mechanism is in driving connection with the telescopic rod to enable the telescopic rod to be opened or closed.
8. The system for generating the power equipment power transmission line based on the ortho-image data as claimed in claim 7, wherein the guide member comprises a guide seat, a follower rod and a follower driving mechanism, the guide seat is arranged on the outer wall of the support cavity and faces to the direction to be detected during detection so as to obtain guidance for the unmanned aerial vehicle; the guide seat is provided with an offset groove for the movement of the follower rod, one end of the follower rod penetrates through the offset groove, and the other end of the follower rod is in driving connection with the follower driving mechanism; and a signal generator is arranged on the rod body of the follower rod and used for transmitting a positioning signal of the unmanned aerial vehicle.
9. The system for generating the power equipment transmission line based on the ortho-image data as claimed in claim 8, wherein the inner wall of the transmission hole is provided with threads, the outer wall of the rod body of the transmission rod is provided with insections, and when the transmission rod is nested, the threads on the transmission hole are engaged with the insections on the transmission rod.
10. The system for generating the power equipment power transmission line based on the ortho-image data as claimed in claim 9, wherein the receiving device includes a display screen and a signal acquisition module, the display screen is used for displaying the current detection data, and the signal acquisition module is used for receiving or transmitting the signal of the unmanned aerial vehicle and the detection device, the obstacle avoidance device, the acquisition device and the positioning device which are arranged on the unmanned aerial vehicle.
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| CN202110980206.5A CN113686309A (en) | 2021-08-25 | 2021-08-25 | Power equipment transmission line generation system based on orthoimage data |
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| CN202110980206.5A CN113686309A (en) | 2021-08-25 | 2021-08-25 | Power equipment transmission line generation system based on orthoimage data |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115188091A (en) * | 2022-07-13 | 2022-10-14 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle grid inspection system and method integrating power transmission and transformation equipment |
-
2021
- 2021-08-25 CN CN202110980206.5A patent/CN113686309A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115188091A (en) * | 2022-07-13 | 2022-10-14 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle grid inspection system and method integrating power transmission and transformation equipment |
| CN115188091B (en) * | 2022-07-13 | 2023-10-13 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle gridding inspection system and method integrating power transmission and transformation equipment |
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