CN114113928A - Detect portable unmanned aerial vehicle carry device of zero value insulator - Google Patents
Detect portable unmanned aerial vehicle carry device of zero value insulator Download PDFInfo
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- CN114113928A CN114113928A CN202111332287.4A CN202111332287A CN114113928A CN 114113928 A CN114113928 A CN 114113928A CN 202111332287 A CN202111332287 A CN 202111332287A CN 114113928 A CN114113928 A CN 114113928A
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- 239000012212 insulator Substances 0.000 title claims abstract description 58
- 230000005684 electric field Effects 0.000 claims abstract description 70
- 238000001514 detection method Methods 0.000 claims abstract description 35
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 22
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 22
- 239000000725 suspension Substances 0.000 claims abstract description 11
- 239000012211 strain insulator Substances 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 26
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000009413 insulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
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Abstract
A portable unmanned aerial vehicle mounting device for detecting zero-value insulators comprises telescopic rods, a pod and an electric field sensor array, wherein the telescopic rods are of a multi-section structure, a coaxial electrode is arranged at the connecting end of every two telescopic rods, and a lead is arranged in each telescopic rod and connected with the coaxial electrode; a lithium battery is arranged at one end of the telescopic rod close to the nacelle and used as a power supply of the electric field sensor array; the electric field sensor array can rotate 360 degrees at the other end of the telescopic rod; during detection, the pod drives the telescopic rod to horizontally displace so as to adjust the detection distance of the electric field sensor array; after the detection distance is reached, when the suspension insulator string is detected, the pod drives the electric field sensor array to rotate in a direction perpendicular to the telescopic rod, and when the tension insulator string is detected, the pod drives the electric field sensor array to rotate in a direction parallel to the telescopic rod; the electric energy of the lithium battery is supplied to the electric field sensor array by using the telescopic rod. The device has the characteristics of detachability and portability, and is used for carrying out zero value detection on insulator strings such as suspension insulators, strain insulators and the like.
Description
Technical Field
The invention relates to the technical field of insulation detection devices of electrical equipment, in particular to a portable unmanned aerial vehicle mounting device for detecting zero-value insulators.
Background
As an important component of an electric power system, the insulator is widely distributed at the joint of a transmission line and a tower and plays a role in supporting the transmission line and electrically insulating. Under the influence of long-term climate environment, temperature, humidity and the like, and the mechanical load, electromechanical load, cold and hot change and the like in the operation process, the mechanical property and the insulating property of the insulator string can be obviously reduced, so that the insulator string is degraded, and the insulator string becomes an important hidden danger of causing flashover, string falling, burst and brittle failure accidents. According to statistics, the annual degradation rate of the power transmission and transformation suspension insulator is about 0.3% on average, which is equivalent to that each base of a 220kV strain tower has about one zero value on average. In consideration of reliability of practical engineering application and complexity of outdoor operation environment, an insulation resistance method and a spark gap method are mainly adopted to detect the zero-value insulator at present. The two detection methods are contact-type methods, and need to carry instruments and equipment to climb a tower for operation, so that the workload is large, the efficiency is low, and the insulation resistance method also needs line power failure, so that the requirements of a current power grid operation unit on digital intelligent operation and maintenance cannot be met.
Prior art 1(CN113125912A) "an onboard zero-value insulator detection device and method" includes a detection sensor, a pod, and a handheld terminal; the detection sensor is used for measuring distance and detecting an electric field in the space around the insulator; a driving device is arranged in the nacelle, the output end of the driving device is connected with the detection sensor through a telescopic rod, and the driving device drives the telescopic rod to horizontally displace so as to adjust the detection distance of the detection sensor; the handheld terminal is in communication connection with the detection sensor and the driving device. Prior art 1 can be used with commercial unmanned aerial vehicle hot plug commonly used on the market. However, the nacelle provided by the prior art 1 is internally provided with a long electric connecting wire, and when the telescopic rod is operated to move back and forth, the connecting wire is jammed and wound, so that the use is inconvenient; and this detection sensor array is vertical arrangement, can be used to dangle arrange insulator string and detect, if will detect the strain insulator string of horizontal arrangement, then need rotate detection sensor and the telescopic link that links to each other with it, this also can cause the jam of electrical connection line and winding, influences the use. In addition, the telescopic rod of the nacelle in the prior art 1 does not have a disassembling function, is inconvenient to install and carry, and affects use.
Prior art 2(CN107608375B) "degraded insulator detection system and method based on unmanned aerial vehicle" includes: a guide housing; the connecting rod is fixed on the guide cover. The unmanned aerial vehicle is fixed on the connecting rod and used for driving the guide cover to move up and down along the insulator string; the detector is fixed on the guide cover and comprises an electric field sensor and a photoelectric sensor, the electric field sensor is used for measuring the axial electric field intensity of the insulator string, and the photoelectric sensor is used for positioning and collecting position information of the degraded insulator detection system; the wireless transmission module comprises a measuring end wireless transceiving unit and a ground end wireless transceiving unit; the electric field analysis module is connected with the ground end wireless receiving and transmitting unit, establishes an electric field distribution curve of the insulator string according to the axial electric field strength and the position information, and analyzes whether the deteriorated insulator exists according to the electric field distribution curve. Similarly, prior art 2 can be used to arrange insulator string to dangling and detect, if will detect the strain insulator string of horizontal arrangement, then need rotate detector and the connecting rod that links to each other with it, and this also can cause the jam of electrical connection line and winding, influences the use.
In conclusion, the unmanned aerial vehicle mounting device for zero-value insulator detection needs to be studied.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide the portable unmanned aerial vehicle mounting device for detecting the zero-value insulator, which has the characteristics of being detachable and portable, and when the device is matched with a front-end detection device for use, the front-end detector can rotate at different angles according to the arrangement mode of the insulator string to be detected, so that the zero-value detection can be well carried out on the insulator strings in different arrangement modes such as suspension, horizontal and the like.
The invention adopts the following technical scheme.
A portable unmanned aerial vehicle mounting device for detecting zero-value insulators comprises a telescopic rod, a nacelle and an electric field sensor array, wherein the nacelle is fixed at one end of the telescopic rod, and the electric field sensor array is installed at the other end of the telescopic rod; the pod is used for driving the telescopic rod to perform horizontal displacement so as to adjust the detection distance of the electric field sensor array, and the electric field sensor array is used for detecting an electric field in the space around the insulator.
The telescopic rods are of a detachable multi-section structure, the connecting end of every two telescopic rods is provided with a coaxial electrode, and a lead is arranged in each telescopic rod and connected with the coaxial electrodes at the two ends of the telescopic rod; a lithium battery is arranged at one end of the telescopic rod close to the nacelle and used as a power supply of the electric field sensor array;
the electric field sensor array can rotate 360 degrees at the other end of the telescopic rod;
during detection, the nacelle drives the telescopic rod to perform horizontal displacement so as to adjust the detection distance of the electric field sensor array; when the detection distance is reached and the suspension insulator string is detected, the pod drives the electric field sensor array to rotate in a direction perpendicular to the telescopic rod, and when the strain insulator string is detected, the pod drives the electric field sensor array to rotate in a direction parallel to the telescopic rod; the electric energy of the lithium battery is supplied to the electric field sensor array by using the telescopic rod.
Preferably, every two telescopic rods are rotationally fixed through the threads of the coaxial electrodes.
Preferably, the length of each telescopic rod ranges from 50 cm to 80 cm.
Preferably, a voltage conversion module is installed in the nacelle and connected with the power supply of the unmanned aerial vehicle, and is used for converting the power supply of the unmanned aerial vehicle into a plurality of different direct-current voltages; the direct-current voltage includes: 5V direct current voltage supplied to the steering engine and the limiting mechanism, 3.3V direct current voltage supplied to the wireless control module and 12V direct current voltage supplied to the wireless charging module.
Preferably, a wireless charging module is installed in the nacelle, the voltage conversion module supplies power to the wireless charging module, and the wireless charging module wirelessly charges the lithium battery.
Preferably, the lithium battery is arranged in a section of telescopic rod for fixing the nacelle, and the positive electrode and the negative electrode of the lithium battery are electrically connected with the coaxial electrode of the connecting end of the section of telescopic rod.
Preferably, a wireless control module and a steering engine are installed in the nacelle; after the wireless control module receives the remote action instruction, a rotation signal is sent to the steering engine; the steering wheel drives the telescopic link to carry out horizontal displacement after rotating.
Preferably, the steering engines comprise a front steering engine and a rear steering engine, wherein the front steering engine is arranged in the front of the nacelle and located at the upper part of the telescopic rod, and the rear steering engine is arranged at the rear of the nacelle and located at the lower part of the telescopic rod.
Preferably, the wireless control module sends a trigger signal to the front steering engine and the rear steering engine respectively, and is used for controlling the front steering engine and the rear steering engine to rotate forwards or reversely simultaneously.
Preferably, the front steering engine comprises a front roller and a front free roller, and the rear steering engine comprises a rear roller and a rear free roller;
when the front steering engine rotates, the front idler wheel is driven to rotate, the telescopic rod moves forwards horizontally due to the friction force between the front idler wheel and the telescopic rod, and meanwhile, the front free idler wheel rotates along with the front idler wheel;
when the rear steering engine rotates, the rear idler wheel is driven to rotate, the telescopic rod is horizontally moved backwards through friction force between the rear idler wheel and the telescopic rod, and meanwhile, the rear free idler wheel rotates along with the telescopic rod.
Preferably, the trigger signal comprises a positive PWM signal and a negative PWM signal;
the positive PWM signal is used for controlling the front steering engine and the rear steering engine to rotate forwards at the same time, and when the front steering engine and the rear steering engine rotate forwards at the same time, the telescopic rod moves forwards horizontally; the negative PWM signal is used for controlling the front steering engine and the rear steering engine to rotate reversely at the same time, and when the front steering engine and the rear steering engine rotate reversely at the same time, the telescopic rod moves backwards horizontally.
Preferably, the wireless control module sends a positive PWM signal to the front steering engine through a positive signal bus and a positive signal first branch line; the wireless control module sends a positive PWM signal to a rear steering engine through a positive signal bus and a positive signal second branch line;
the wireless control module sends a negative PWM signal to a front steering engine through a negative signal bus and a negative signal first branch line; the wireless control module sends a negative PWM signal to a rear steering engine through a negative signal bus and a negative signal second branch line;
the first limiting mechanism is connected in series on the positive signal bus, and the second limiting mechanism is connected in series on the negative signal bus.
Preferably, when the telescopic rod moves forwards horizontally and exceeds the forward mark, the switch contact in the first limiting mechanism is switched off, a positive signal bus between the wireless control module and the front steering engine and between the wireless control module and the rear steering engine is cut off, the front steering engine and the rear steering engine stop rotating forwards, and the telescopic rod does not move forwards horizontally any more;
when the telescopic link moves backwards horizontally and exceeds the backward mark, the switch contact in the second limiting mechanism is disconnected, the negative signal bus between the wireless control module and the front steering engine and between the wireless control module and the rear steering engine is cut off, the front steering engine and the rear steering engine stop reversing, and the telescopic link does not move backwards horizontally any more.
Preferably, the forward mark is a magnet arranged at the horizontal forward limit position of the telescopic rod, and the backward mark is a magnet arranged at the horizontal backward limit position of the telescopic rod;
a switch contact in the first limiting mechanism is switched on and off under the attraction of the magnet of the forward mark; and the switch contact in the second limiting mechanism is switched off under the magnetic attraction of the back row mark.
Preferably, the voltage conversion module supplies power to the wireless control module.
Compared with the prior art, the invention has the beneficial effects that:
1. the limit mechanism is adopted to control the telescopic surplus of the telescopic rod, so that the problems of heating and loss caused by idle rotation of the steering engine when physical limit is adopted in the prior art are solved;
2. the telescopic rod is detachable by adopting a threaded connection mode, so that the telescopic rod is convenient to mount and carry and is beneficial to field use;
3. the telescopic link adopts a conductive mode of coaxial electrodes and each section of built-in lead, electric energy is transmitted to the electric field sensor array at the front end of the telescopic link, a power supply line for laying the electric field sensor array along the telescopic link is avoided, when the electric field sensor array rotates freely and the telescopic link displaces freely and horizontally, the problems of jamming, winding and the like of the connecting line do not exist, and the use efficiency is improved;
4. the electric field sensor array rotates freely, when the electric field sensor array rotates to the direction perpendicular to the telescopic rod, the electric field sensor array is suitable for detecting the insulator strings arranged in a suspension mode, and when the electric field sensor array rotates to the direction parallel to the telescopic rod, the electric field sensor array is suitable for detecting the strain insulator strings arranged transversely, so that zero value detection of the insulator strings in different arrangement modes is realized, and the application range is wider;
5. the lithium battery is installed at one end, close to the nacelle, of the telescopic rod and serves as a power source of the electric field sensor array, the wireless charging module is arranged in the nacelle, wireless charging of the lithium battery is achieved, electric circuit connection between the telescopic rod and the nacelle is avoided, and flexibility of movement and rotation of the telescopic rod is improved.
Drawings
Fig. 1 is a schematic structural diagram of a portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to an embodiment of the present invention;
fig. 2 is a schematic structural view of the telescopic rod according to an embodiment of the present invention;
fig. 3 is a front view of a real object of the unmanned aerial vehicle mounting device in an embodiment of the present invention;
fig. 4 is a side view of an object of the unmanned aerial vehicle mounting device in an embodiment of the invention, in which an electric field sensor array is rotated to be perpendicular to a direction of a telescopic rod, so as to be suitable for detecting a suspension insulator string;
fig. 5 is a side view of an object of the unmanned aerial vehicle mounting device in an embodiment of the present invention, in which an electric field sensor array is rotated to be parallel to a direction of a telescopic rod, and is suitable for detecting a strain insulator string arranged in a transverse direction;
FIG. 6 is a schematic diagram of a control circuit according to an embodiment of the present invention;
FIG. 7 is a schematic view of the extension and retraction of the extension pole in one embodiment of the present invention;
the reference numerals in fig. 1 to 7 are explained as follows:
1-a telescopic rod; 2-a steering engine; 3-a voltage conversion module; 4-a wireless control module; 5-a wireless charging module; 6-a lithium battery; 7-a pod; 8 a-a first stop mechanism; 8 b-a second limiting mechanism; 9-an electric field sensor array; 21-a coaxial electrode; 22-a wire; 41-front steering engine; 42-rear steering engine; 43-front roller; 44-rear roller; 45-unmanned aerial vehicle power supply.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.
As shown in fig. 1, the portable unmanned aerial vehicle mounting device for detecting the zero-value insulator comprises a telescopic rod 1, a nacelle 7 and an electric field sensor array 9, wherein the nacelle 7 is fixed at one end of the telescopic rod 1, and the electric field sensor array 9 is installed at the other end of the telescopic rod 1; the pod 7 is used for driving the telescopic rod 1 to perform horizontal displacement so as to adjust the detection distance of the electric field sensor array 9, and the electric field sensor array 9 is used for detecting an electric field in a space around the insulator.
As shown in fig. 2, the telescopic rod 1 adopts a detachable multi-section structure, the connecting end of each two telescopic rods is provided with a coaxial electrode 21, and a lead 22 is arranged in each telescopic rod and connected with the coaxial electrodes 21 at the two ends of the telescopic rod; a lithium battery 6 is arranged at one end of the telescopic rod 1 close to the nacelle 7 and used as a power supply of the electric field sensor array 9. In the preferred embodiment of the invention, the telescopic rods are detachable into three sections, each two sections of telescopic rods are electrically connected through the coaxial electrodes, and the coaxial electrodes at the head and the tail can be connected with the positive electrode and the negative electrode through the wires in each section so as to transmit electric energy.
Specifically, every two sections of telescopic rods are fixed in a rotating mode through threads of coaxial electrodes. Considering flight stability and field detection operability, the length of each telescopic rod ranges from 50 cm to 80 cm.
It is to be noted that the length range of each telescopic rod in the preferred embodiment of the present invention is a non-limiting preferred choice, and a person skilled in the art can determine the length range of each telescopic rod according to the flight characteristics of the unmanned aerial vehicle, the implementation requirements of the maintenance site, and the operation space.
As shown in fig. 3 to 5, the electric field sensor array can rotate 360 ° at the other end of the telescopic rod. The front end of the telescopic rod is provided with the electric field sensor array which can rotate freely, and the internal circuit and the structure can not be jammed, so that insulator strings in different arrangement modes such as a suspension string and a tension string can be detected freely.
During detection, the nacelle drives the telescopic rod to perform horizontal displacement so as to adjust the detection distance of the electric field sensor array; when the detection distance is reached and the suspension insulator string is detected, the pod drives the electric field sensor array to rotate in a direction perpendicular to the telescopic rod, and when the strain insulator string is detected, the pod drives the electric field sensor array to rotate in a direction parallel to the telescopic rod; the electric energy of the lithium battery is supplied to the electric field sensor array by using the telescopic rod.
As shown in fig. 6, a voltage conversion module 3 is installed in the nacelle 7, and the voltage conversion module 3 is connected with the unmanned aerial vehicle power supply 45 and is used for converting the unmanned aerial vehicle power supply into a plurality of different direct-current voltages; the direct-current voltage includes: 5V direct current voltage supplied to the steering engine and the limiting mechanism, 3.3V direct current voltage supplied to the wireless control module and 12V direct current voltage supplied to the wireless charging module. In the preferred embodiment of the invention, the voltage conversion module converts the voltage of the external unmanned aerial vehicle battery into direct-current voltages with different sizes so as to supply power to the steering engine, the limiting mechanism, the wireless control module and the wireless charging module, and the unmanned aerial vehicle power supply supplies working power to the modules.
As can be seen from fig. 6, the wireless charging module 5 is installed in the pod 7, the voltage conversion module 3 supplies power to the wireless charging module 5, and the wireless charging module 5 wirelessly charges the lithium battery 6.
Further, the lithium battery 6 is installed in a section of telescopic rod for fixing the pod, and the positive and negative electrodes of the lithium battery are electrically connected with the coaxial electrode of the connecting end of the section of telescopic rod.
Specifically, a wireless control module 4, a front steering engine 41 and a rear steering engine 42 are installed in the nacelle 7; after receiving the remote action command, the wireless control module 4 sends a rotation signal to the front steering engine 41 and the rear steering engine 42; the front steering gear 41 and the rear steering gear 42 drive the telescopic rod 1 to perform horizontal displacement after rotating.
As shown in fig. 7, the steering gear 2 comprises a front steering gear 1 and a rear steering gear 2, wherein the front steering gear is arranged in front of the nacelle 7 and located at the upper part of the telescopic rod 1, and the rear steering gear is arranged at the rear part of the nacelle 7 and located at the lower part of the telescopic rod 1.
Specifically, the wireless control module 4 sends trigger signals to the front steering engine 1 and the rear steering engine 2 respectively, and is used for controlling the front steering engine 1 and the rear steering engine 2 to rotate forwards or backwards simultaneously.
As shown in fig. 7, the front steering engine 1 comprises a front roller 3 and a front free roller, and the rear steering engine comprises a rear roller 4 and a rear free roller;
when the front steering engine 1 rotates, the front idler wheel 3 is driven to rotate, the telescopic rod moves forwards horizontally due to the friction force between the front idler wheel 3 and the telescopic rod 1, and meanwhile, the front free idler wheel rotates along with the telescopic rod;
when the rear steering engine 2 rotates, the rear idler wheel 4 is driven to rotate, the telescopic rod is horizontally moved backwards through friction force between the rear idler wheel 4 and the telescopic rod, and meanwhile, the rear free idler wheel rotates along with the telescopic rod.
In the preferred embodiment of the invention, one steering engine, namely a front steering engine and a rear steering engine, is respectively installed at the front and rear positions in the nacelle, the two steering engines are arranged at the upper and lower parts of the telescopic rod in a crossed manner, a certain distance is reserved between the two steering engines, and the two steering engines rotate forwards or backwards in the same direction during action, so that the telescopic rod can be kept to move forwards and backwards stably without tilting forwards and backwards. The telescopic link back-and-forth movement depends on the idler wheels arranged on the steering engine, namely the friction force generated by the front idler wheel 3 and the rear idler wheel 4, besides the idler wheels arranged on the steering engine, the idler wheels capable of freely rotating are also arranged at the symmetrical part of the upper part of the telescopic link and the idler wheels of the steering engine, when the telescopic link back-and-forth movement is carried out, the free idler wheels can rotate along with the telescopic link, and the effects of reducing the friction force and controlling the vertical position of the telescopic link are achieved.
Further, the trigger signal includes a positive PWM signal and a negative PWM signal;
the positive PWM signal is used for controlling the front steering engine 1 and the rear steering engine 2 to rotate forwards simultaneously, and when the front steering engine 1 and the rear steering engine 2 rotate forwards simultaneously, the telescopic rod 1 moves forwards horizontally; the negative PWM signal is used for controlling the front steering engine 1 and the rear steering engine 2 to rotate reversely at the same time, and when the front steering engine 1 and the rear steering engine 2 rotate reversely at the same time, the telescopic rod 1 moves backwards horizontally.
Specifically, the wireless control module 4 sends a positive PWM signal to the front steering engine 1 through a positive signal bus and a positive signal first branch line; the wireless control module 4 sends a positive PWM signal to the rear steering engine 2 through a positive signal bus and a positive signal second branch line;
the wireless control module 4 sends a negative PWM signal to the front steering engine 1 through a negative signal bus and a negative signal first branch line; the wireless control module 4 sends a negative PWM signal to the rear steering engine 2 through a negative signal bus and a negative signal second branch line;
wherein, a first limit mechanism 8a is connected in series on the positive signal bus, and a second limit mechanism 8b is connected in series on the negative signal bus.
Specifically, when the telescopic rod moves forwards horizontally and exceeds the forward mark, a switch contact in the first limiting mechanism is switched off, a positive signal bus between the wireless control module and the front steering engine and between the wireless control module and the rear steering engine is cut off, the front steering engine and the rear steering engine stop rotating forwards, and the telescopic rod does not move forwards horizontally any more;
when the telescopic link moves backwards horizontally and exceeds the backward mark, the switch contact in the second limiting mechanism is disconnected, the negative signal bus between the wireless control module and the front steering engine and between the wireless control module and the rear steering engine is cut off, the front steering engine and the rear steering engine stop reversing, and the telescopic link does not move backwards horizontally any more.
Specifically, the forward moving mark is a magnet arranged at the horizontal forward moving limit position of the telescopic rod, and the backward moving mark is a magnet arranged at the horizontal backward moving limit position of the telescopic rod;
a switch contact in the first limiting mechanism is switched on and off under the attraction of the magnet of the forward mark; the switch contact in the second limiting mechanism is switched on and off under the magnetic attraction of the back row mark; thereby playing the role of limiting the position of the telescopic rod.
Specifically, the voltage conversion module supplies power to the wireless control module.
Compared with the prior art, the invention has the beneficial effects that:
1. the limit mechanism is adopted to control the telescopic surplus of the telescopic rod, so that the problems of heating and loss caused by idle rotation of the steering engine when physical limit is adopted in the prior art are solved;
2. the telescopic rod is detachable by adopting a threaded connection mode, so that the telescopic rod is convenient to mount and carry and is beneficial to field use;
3. the telescopic link adopts a conductive mode of coaxial electrodes and each section of built-in lead, electric energy is transmitted to the electric field sensor array at the front end of the telescopic link, a power supply line for laying the electric field sensor array along the telescopic link is avoided, when the electric field sensor array rotates freely and the telescopic link displaces freely and horizontally, the problems of jamming, winding and the like of the connecting line do not exist, and the use efficiency is improved;
4. the electric field sensor array rotates freely, when the electric field sensor array rotates to the direction perpendicular to the telescopic rod, the electric field sensor array is suitable for detecting the insulator strings arranged in a suspension mode, and when the electric field sensor array rotates to the direction parallel to the telescopic rod, the electric field sensor array is suitable for detecting the strain insulator strings arranged transversely, so that zero value detection of the insulator strings in different arrangement modes is realized, and the application range is wider;
5. the lithium battery is installed at one end, close to the nacelle, of the telescopic rod and serves as a power source of the electric field sensor array, the wireless charging module is arranged in the nacelle, wireless charging of the lithium battery is achieved, electric circuit connection between the telescopic rod and the nacelle is avoided, and flexibility of movement and rotation of the telescopic rod is improved.
The applicant has described and illustrated embodiments of the present invention in detail with reference to the drawings attached hereto, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (15)
1. A portable unmanned aerial vehicle mounting device for detecting zero-value insulators comprises a telescopic rod, a nacelle and an electric field sensor array, wherein the nacelle is fixed at one end of the telescopic rod, and the electric field sensor array is installed at the other end of the telescopic rod; the pod is used for driving the telescopic rod to perform horizontal displacement so as to adjust the detection distance of the electric field sensor array, the electric field sensor array is used for detecting an electric field in the space around the insulator, and the device is characterized in that,
the telescopic rods are of a detachable multi-section structure, the connecting end of every two telescopic rods is provided with a coaxial electrode, and a lead is arranged in each telescopic rod and connected with the coaxial electrodes at the two ends of the telescopic rod; a lithium battery is arranged at one end of the telescopic rod close to the nacelle and used as a power supply of the electric field sensor array;
the electric field sensor array can rotate 360 degrees at the other end of the telescopic rod;
during detection, the nacelle drives the telescopic rod to perform horizontal displacement so as to adjust the detection distance of the electric field sensor array; when the detection distance is reached and the suspension insulator string is detected, the pod drives the electric field sensor array to rotate in a direction perpendicular to the telescopic rod, and when the strain insulator string is detected, the pod drives the electric field sensor array to rotate in a direction parallel to the telescopic rod; the electric energy of the lithium battery is supplied to the electric field sensor array by using the telescopic rod.
2. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 1,
and each two sections of telescopic rods are rotationally fixed through the threads of the coaxial electrodes.
3. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 1 or 2,
the length of each telescopic rod ranges from 50 cm to 80 cm.
4. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 1,
a voltage conversion module is installed in the hanging cabin, connected with an unmanned aerial vehicle power supply and used for converting the unmanned aerial vehicle power supply into a plurality of direct-current voltages with different sizes;
the direct-current voltage includes: 5V direct current voltage supplied to the steering engine and the limiting mechanism, 3.3V direct current voltage supplied to the wireless control module and 12V direct current voltage supplied to the wireless charging module.
5. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 4,
the wireless charging module is installed in the hanging cabin, the voltage conversion module supplies power to the wireless charging module, and the wireless charging module wirelessly charges the lithium battery.
6. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 5,
the lithium battery is arranged in a section of telescopic rod for fixing the nacelle, and the positive electrode and the negative electrode of the lithium battery are electrically connected with the coaxial electrode at the connecting end of the section of telescopic rod.
7. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 4,
a wireless control module and a steering engine are arranged in the hanging cabin; after the wireless control module receives the remote action instruction, a rotation signal is sent to the steering engine; the steering wheel drives the telescopic link to carry out horizontal displacement after rotating.
8. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 6,
the steering engine comprises a front steering engine and a rear steering engine, wherein the front steering engine is arranged in the front of the nacelle and is positioned on the upper part of the telescopic rod, and the rear steering engine is arranged on the rear of the nacelle and is positioned on the lower part of the telescopic rod.
9. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 6,
the wireless control module sends trigger signals to the front steering engine and the rear steering engine respectively and is used for controlling the front steering engine and the rear steering engine to rotate forwards or reversely simultaneously.
10. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 9,
the front steering engine comprises a front roller and a front free roller, and the rear steering engine comprises a rear roller and a rear free roller;
when the front steering engine rotates, the front idler wheel is driven to rotate, the telescopic rod moves forwards horizontally due to the friction force between the front idler wheel and the telescopic rod, and meanwhile, the front free idler wheel rotates along with the front idler wheel;
when the rear steering engine rotates, the rear idler wheel is driven to rotate, the telescopic rod is horizontally moved backwards through friction force between the rear idler wheel and the telescopic rod, and meanwhile, the rear free idler wheel rotates along with the telescopic rod.
11. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 9,
the trigger signal comprises a positive PWM signal and a negative PWM signal;
the positive PWM signal is used for controlling the front steering engine and the rear steering engine to rotate forwards at the same time, and when the front steering engine and the rear steering engine rotate forwards at the same time, the telescopic rod moves forwards horizontally; the negative PWM signal is used for controlling the front steering engine and the rear steering engine to rotate reversely at the same time, and when the front steering engine and the rear steering engine rotate reversely at the same time, the telescopic rod moves backwards horizontally.
12. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 11,
the wireless control module sends a positive PWM signal to a front steering engine through a positive signal bus and a positive signal first branch line; the wireless control module sends a positive PWM signal to a rear steering engine through a positive signal bus and a positive signal second branch line;
the wireless control module sends a negative PWM signal to a front steering engine through a negative signal bus and a negative signal first branch line; the wireless control module sends a negative PWM signal to a rear steering engine through a negative signal bus and a negative signal second branch line;
the first limiting mechanism is connected in series on the positive signal bus, and the second limiting mechanism is connected in series on the negative signal bus.
13. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 12,
when the telescopic rod moves forwards horizontally and exceeds the forward mark, a switch contact in the first limiting mechanism is switched off, a positive signal bus between the wireless control module and the front steering engine and between the wireless control module and the rear steering engine is cut off, the front steering engine and the rear steering engine stop rotating forwards, and the telescopic rod does not move forwards horizontally any more;
when the telescopic link moves backwards horizontally and exceeds the backward mark, the switch contact in the second limiting mechanism is disconnected, the negative signal bus between the wireless control module and the front steering engine and between the wireless control module and the rear steering engine is cut off, the front steering engine and the rear steering engine stop reversing, and the telescopic link does not move backwards horizontally any more.
14. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 10,
the forward mark is a magnet arranged at the horizontal forward limit position of the telescopic rod, and the backward mark is a magnet arranged at the horizontal backward limit position of the telescopic rod;
a switch contact in the first limiting mechanism is switched on and off under the attraction of the magnet of the forward mark; and the switch contact in the second limiting mechanism is switched off under the magnetic attraction of the back row mark.
15. The portable unmanned aerial vehicle mounting device for detecting zero-value insulators according to claim 7,
the voltage conversion module supplies power to the wireless control module.
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