CN114336486A - Snow removal control system for unmanned aerial vehicle - Google Patents
Snow removal control system for unmanned aerial vehicle Download PDFInfo
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- CN114336486A CN114336486A CN202111462534.2A CN202111462534A CN114336486A CN 114336486 A CN114336486 A CN 114336486A CN 202111462534 A CN202111462534 A CN 202111462534A CN 114336486 A CN114336486 A CN 114336486A
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Abstract
The invention discloses an unmanned aerial vehicle snow removal control system which comprises a snow removal unmanned aerial vehicle body, a remote control system and a communication system, wherein the unmanned aerial vehicle body is a vertical lifting type unmanned aerial vehicle, and is connected with the remote control system through the communication system, so that the remote control system can remotely control the position of the unmanned aerial vehicle at a power transmission line. This system installs the snow removing device through unmanned aerial vehicle and places on high altitude power transmission line, removes it at high altitude power transmission line through unmanned aerial vehicle simultaneously, clears away the ice and snow on the high altitude power transmission line.
Description
Technical Field
The invention belongs to the technical field of electric power, and relates to an unmanned aerial vehicle snow removal control system.
Background
The weight of the transmission line is greatly increased by the ice and snow covering of the transmission line, the stability of the pole tower is seriously affected, the pole tower cannot support the transmission line by force due to the serious ice and snow covering, and further large-area power failure is caused, so that irreparable loss is caused to the livelihood and the economy. In order to avoid the problems, the ice and snow removal operation should be carried out on the power transmission line with serious ice and snow coverage in time. In recent years, with the wide application of unmanned aerial vehicles, part unmanned aerial vehicles are used for the small-area ice and snow removal operation of transmission line, adopt unmanned aerial vehicle can carry out the ice and snow removal operation to the position that the people can't climb to, can effectively ensure operation safety.
However, at the in-process that uses unmanned aerial vehicle to remove ice and snow operation, operating personnel need incessantly adjust unmanned aerial vehicle's flight direction to make its motion trajectory keep unanimous with transmission line's trend all the time, however, unmanned aerial vehicle's direction is difficult to control and masters, can't effectively guarantee unmanned aerial vehicle moves ahead the directional stability of in-process, leads to removing ice and snow inefficiency, and is consuming time long.
Disclosure of Invention
In order to solve the problems, the snow removal control system for the unmanned aerial vehicle is characterized in that a snow removal device is arranged on a high-altitude power transmission line through the unmanned aerial vehicle, and meanwhile, the snow removal device is moved on the high-altitude power transmission line through the unmanned aerial vehicle to remove snow and ice on the high-altitude power transmission line.
The invention provides an unmanned aerial vehicle snow removal control system, which comprises:
the snow removing unmanned aerial vehicle comprises a snow removing unmanned aerial vehicle body, a remote control system and a communication system, wherein the unmanned aerial vehicle body is a vertical lifting unmanned aerial vehicle and is connected with the remote control system through the communication system, so that the remote control system can remotely control the position of the unmanned aerial vehicle at a power transmission line;
the snow removing device is arranged at the bottom of the unmanned aerial vehicle and is of a rod type structure, the direction adjusting device is arranged in the middle of the rod type structure, the bottom of the rod type structure is provided with a sliding groove, and a snow removing sliding device is arranged in the sliding groove;
the direction adjusting device is characterized in that the outer side of the direction adjusting device is of a circular ring structure, a groove of a circular arc structure is formed in the inner side of the circular ring structure, a rotating end of a spherical structure is arranged in the groove, a rod body is arranged on the surface of the rotating end, and the circular ring structure is arranged in the middle of the rod structure, so that the rotating end of the spherical structure can rotate in the groove of the circular arc structure.
The snow removal sliding device is characterized in that a snow removal groove is formed in the snow removal sliding device, a rolling wheel is arranged in the middle of the interior of the snow removal groove and can roll on the power transmission line, electromagnetic rotating devices are arranged on two sides of the interior of the snow removal groove, accumulated snow in the snow removal groove can be removed after the electromagnetic rotating devices are operated, and an electromagnetic fixing device is arranged at the opening of the snow removal groove and can fix the power transmission line in the snow removal groove;
an electromagnetic moving device is arranged between the snow removing sliding device and the sliding groove, and the electromagnetic moving device is operated to move in the sliding groove so as to control the position of the snow removing sliding device in the sliding groove;
the device comprises an adjusting rod used for connecting an unmanned aerial vehicle body and a snow removing device, wherein an electromagnetic adjusting device is arranged in the middle of the adjusting rod, one end of the electromagnetic adjusting device is connected with a rotating end surface rod body of a spherical structure in a direction adjusting device, and the other end of the electromagnetic adjusting device is connected with the bottom of the unmanned aerial vehicle body through a direction rotating device;
install the controller on the unmanned aerial vehicle body, be equipped with communication device in this controller, this communication device passes through communication system and remote control system set up remote communication, this controller can control electromagnetism rotating device, electromagnetism fixing device, electromagnetism mobile device and electromagnetic adjusting device's operation, clears away transmission line's snow to and can control the position between unmanned aerial vehicle body and the snow removing device, make the unmanned aerial vehicle motion move ahead the in-process, the direction of snow removing device has stability.
Further unmanned aerial vehicle snow removing control system is still including the unmanned aerial vehicle unit that has the observation function, and this unmanned aerial vehicle unit has a plurality of unmanned aerial vehicle, distributes in the upside and the both sides of snow removing unmanned aerial vehicle body, is equipped with the picture on this unmanned aerial vehicle and detects the function, can observe the running state of snow removing unmanned aerial vehicle on transmission line to this unmanned aerial vehicle passes through communication system and links to each other with remote control system, can transmit the picture that detects to the remote control system in.
Further electromagnetism rotating device includes electromagnetic means and rotor blade, and wherein rotor blade installs in electromagnetic means, and electromagnetic means can drive the rotor blade rotatory after the operation, electromagnetic means links to each other with the controller, makes the controller can control the rotation of rotor blade in the electromagnetism rotating device, clears away the snow of the inboard transmission line of snow groove.
Further electromagnetism fixing device includes the electromagnetic means and the flexible body of rod, and wherein the electromagnetic means installs at the opening part in snow removing groove, and the flexible body of rod is installed in the electromagnetic means, and after the electromagnetic means operation, can drive the flexible body of rod and stretch out, with the fixed early snow removing inslot of transmission line, this electromagnetic means links to each other with the controller, makes the controller can control the operation of electromagnetism fixing device, can fix transmission line in snow removing inslot.
The electromagnetic moving device comprises an electromagnetic device and a mechanical moving device, wherein the mechanical moving device is installed in a sliding groove, the electromagnetic device is installed on the mechanical moving device, the mechanical moving device can move left and right in the sliding groove after the electromagnetic device is switched on, and the electromagnetic device is connected with the controller, so that the controller can control the operation of the electromagnetic moving device and can control the position between the snow removing groove and the power transmission line.
Further electromagnetic adjusting device includes electromagnetic means, and electromagnetic means installs on adjusting the pole, can control the length of adjusting lever, electromagnetic means passes through the connecting wire and links to each other with the controller, through controller operation electromagnetic means, can the length of automatic control adjusting lever, controls the position between snow removing unmanned aerial vehicle body and the snow removing device.
Further be equipped with the balanced detection sensor on the snow removing device, can detect the skew angle of the shaft tower structure of snow removing device on transmission line, the balanced detection sensor links to each other with the controller, makes the parameter value in the balanced detection sensor of controller.
The controller further comprises a digital quantity output module and a signal detection module, the digital quantity output module is connected with the electromagnetic rotating device, the electromagnetic fixing device, the electromagnetic moving device and the electromagnetic adjusting device, so that the controller can control the operation of the electromagnetic rotating device, the electromagnetic fixing device, the electromagnetic moving device and the electromagnetic adjusting device, and the signal detection module is connected with the balance detection sensor, so that the controller can receive parameter values in the balance detection sensor.
Drawings
FIG. 1 is a schematic view of an overall structure of an unmanned aerial vehicle snow removal control system of the invention;
fig. 2 is a schematic structural view of a snow removal device in the snow removal control system of the unmanned aerial vehicle of the invention;
fig. 3 is a schematic structural view of a direction adjusting device in the snow removal control system of the unmanned aerial vehicle;
fig. 4 is a schematic structural view of a snow removal sliding device in the snow removal control system of the unmanned aerial vehicle of the invention;
FIG. 5 is a schematic diagram of a structure of an adjusting rod in the snow removal control system of the unmanned aerial vehicle;
fig. 6 is a schematic view of an installation structure of a balance detection sensor in the snow removal control system of the unmanned aerial vehicle.
In the figure: 1. snow removing unmanned aerial vehicle body; 2. a remote control system; 3. a communication system; 4. a snow removal device; 5. adjusting a rod; 6. a controller; 7. a balance detection sensor;
41. a direction adjusting device; 42. a sliding groove; 43. a snow removal slide; 411. a circular ring structure; 431. a rolling wheel; 432. an electromagnetic rotating device; 433. an electromagnetic fixing device; 434. an electromagnetic moving device;
51. an electromagnetic adjustment device; 52. a direction rotating device.
Detailed Description
The following describes in detail a specific embodiment of the snow removal control system for the unmanned aerial vehicle according to the present invention with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides an unmanned aerial vehicle snow removal control system, which includes:
the snow removing unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a remote control system 2 and a communication system 3, wherein the unmanned aerial vehicle body is a vertical lifting unmanned aerial vehicle and is connected with the remote control system 2 through the communication system 3, so that the remote control system 2 can remotely control the position of the unmanned aerial vehicle at a power transmission line;
as shown in fig. 2, the snow removing device 4 is installed at the bottom of the unmanned aerial vehicle, the snow removing device 4 is of a rod-type structure, a direction adjusting device 41 is arranged in the middle of the rod-type structure, a sliding groove 42 is arranged at the bottom of the rod-type structure, and a snow removing sliding device 43 is arranged in the sliding groove 42;
as shown in fig. 3, the outer side of the direction adjusting device 41 is provided with a circular ring structure 411, the inner side of the circular ring structure 411 is provided with a groove of a circular arc structure, a rotating end of a spherical structure is arranged in the groove, the surface of the rotating end is provided with a rod body, and the circular ring structure 411 is installed in the middle of the rod structure, so that the rotating end of the spherical structure can rotate in the groove of the circular arc structure.
As shown in fig. 4, a snow removal groove is formed in the snow removal sliding device 43, wherein a rolling wheel 431 is arranged in the middle inside the snow removal groove, the rolling wheel 431 can roll on the power transmission line, electromagnetic rotating devices 432 are arranged on two sides inside the snow removal groove, after the electromagnetic rotating devices 432 are operated, snow in the snow removal groove can be removed, and an electromagnetic fixing device is arranged at an opening of the snow removal groove, so that the power transmission line can be fixed in the snow removal groove;
an electromagnetic moving device 434 is arranged between the snow-removing sliding device 43 and the sliding groove 42, and the electromagnetic moving device 434 is operated to move in the sliding groove 42 so as to control the position of the snow-removing sliding device 43 in the sliding groove 42;
as shown in fig. 5, the adjusting lever 5 is used for connecting the unmanned aerial vehicle body and the snow removing device 4, an electromagnetic adjusting device 51 is arranged in the middle of the adjusting lever 5, one end of the electromagnetic adjusting device 51 is connected with the rotating end surface rod body of the spherical structure in the direction adjusting device 41, the other end of the electromagnetic adjusting device is connected with the bottom of the unmanned aerial vehicle body through a direction rotating device 52, wherein the direction rotating device 52 comprises a transverse adjusting device and a longitudinal adjusting device, and the position between the snow removing device 4 and the snow removing unmanned aerial vehicle can be controlled;
install controller 6 on the unmanned aerial vehicle body, be equipped with communication device in this controller 6, this communication device passes through communication system 3 establishes remote communication with remote control system 2, and this controller 6 can control electromagnetism rotary device 432, electromagnetism fixing device, electromagnetism mobile device 434 and electromagnetic adjusting device 51's operation, clears away transmission line's snow to and can control the position between unmanned aerial vehicle body and the snow removing device 4, make the unmanned aerial vehicle motion in-process that moves ahead, the direction of snow removing device 4 has stability.
According to the aforesaid, wherein unmanned aerial vehicle snow removing control system is still including the unmanned aerial vehicle unit that has the observation function, and this unmanned aerial vehicle unit has a plurality of unmanned aerial vehicles, distributes in the upside and the both sides of snow removing unmanned aerial vehicle body 1, is equipped with the picture on this unmanned aerial vehicle and detects the function, can observe the running state of snow removing unmanned aerial vehicle on transmission line to this unmanned aerial vehicle passes through communication system 3 and links to each other with remote control system 2, can transmit the picture that detects to remote control system 2 in.
According to the above, the electromagnetic rotating device 432 includes an electromagnetic device and a rotating blade, wherein the rotating blade is installed in the electromagnetic device, the electromagnetic device can drive the rotating blade to rotate after operating, and the electromagnetic device is connected to the controller 6, so that the controller 6 can control the rotation of the rotating blade in the electromagnetic rotating device 432 to remove the accumulated snow on the power transmission line inside the snow removing groove.
According to the above, wherein electromagnetism fixing device includes electromagnetic means and the flexible body of rod, and wherein electromagnetic means installs the opening part in snow removing groove, and the flexible body of rod is installed in electromagnetic means, and after electromagnetic means moved, can drive the flexible body of rod and stretch out, with the fixed early snow removing inslot of transmission line, this electromagnetic means links to each other with controller 6, makes controller 6 can control electromagnetism fixing device and move, can fix transmission line in snow removing inslot.
According to the above, the electromagnetic moving device 434 includes an electromagnetic device and a mechanical moving device, wherein the mechanical moving device is installed in the sliding groove 42, the electromagnetic device is installed on the mechanical moving device, after the electromagnetic device is turned on, the mechanical moving device can move left and right in the sliding groove 42, and the electromagnetic device is connected to the controller 6, so that the controller 6 can control the operation of the electromagnetic moving device 434, and can control the position between the snow removing groove and the power transmission line.
According to the above, wherein electromagnetic adjusting device 51 includes electromagnetic means, and electromagnetic means installs on adjusting pole 5, can control the length of adjusting pole 5, electromagnetic means passes through the connecting wire and links to each other with controller 6, through 6 operation electromagnetic means of controller, can automatic control adjust the length of pole 5, control position between snow removing unmanned aerial vehicle body 1 and the snow removing device 4.
As shown in fig. 6, a balance detection sensor 7 is arranged on the snow removing device 4, and can detect the offset angle of the tower structure of the snow removing device 4 on the power transmission line, and the balance detection sensor 7 is connected with the controller 6, so that the controller 6 can balance the parameter values in the detection sensor 7.
According to the above, the controller 6 includes a digital quantity output module and a signal detection module, the digital quantity output module is connected to the electromagnetic rotating device 432, the electromagnetic fixing device, the electromagnetic moving device 434 and the electromagnetic adjusting device 51, so that the controller 6 can control the operations of the electromagnetic rotating device 432, the electromagnetic fixing device, the electromagnetic moving device 434 and the electromagnetic adjusting device 51, and the signal detection module is connected to the balance detection sensor 7, so that the controller 6 can receive the parameter value in the balance detection sensor 7.
The working mode of the snow removal control system of the unmanned aerial vehicle is as follows:
the snow removing unmanned aerial vehicle body 1 is operated to enable the snow removing device 4 arranged at the bottom of the unmanned aerial vehicle to be close to the power transmission line, wherein the snow removing unmanned aerial vehicle body 1 is placed on the power transmission line in the following mode,
1. the snow removing unmanned aerial vehicle body 1 is operated to the upper end of the power transmission line, the length of the adjusting rod 5 is controlled by operating the electromagnetic adjusting device 51 on the adjusting rod 5, and the snow removing device 4 can be placed on the power transmission line;
2. an electromagnetic moving device 434 is provided between the snow-removing slide device 43 and the slide groove 42, and the position of the snow-removing slide device 43 in the slide groove 42 is controlled by operating the electromagnetic moving device 434 so as to move in the slide groove 42.
Can observe snow removing unmanned aerial vehicle position on transmission line through the unmanned aerial vehicle unit of observing the function in the 4 installation of snow removing device to carry the picture of transmission to remote control system 2 in.
Unmanned aerial vehicle drags snow removing device 4 on transmission line, makes it remove on the transmission line, and at the removal in-process, electromagnetism rotary device 432 moves, and the drive rotating vane continuously cleans the snow on to transmission line.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides an unmanned aerial vehicle snow removing control system which characterized in that, this system includes:
the snow removing unmanned aerial vehicle comprises a snow removing unmanned aerial vehicle body, a remote control system and a communication system, wherein the unmanned aerial vehicle body is a vertical lifting unmanned aerial vehicle and is connected with the remote control system through the communication system, so that the remote control system can remotely control the position of the unmanned aerial vehicle at a power transmission line;
the snow removing device is arranged at the bottom of the unmanned aerial vehicle and is of a rod type structure, the direction adjusting device is arranged in the middle of the rod type structure, the bottom of the rod type structure is provided with a sliding groove, and a snow removing sliding device is arranged in the sliding groove;
the direction adjusting device is characterized in that the outer side of the direction adjusting device is of a circular ring structure, a groove of a circular arc structure is formed in the inner side of the circular ring structure, a rotating end of a spherical structure is arranged in the groove, a rod body is arranged on the surface of the rotating end, and the circular ring structure is arranged in the middle of the rod structure, so that the rotating end of the spherical structure can rotate in the groove of the circular arc structure.
The snow removal sliding device is characterized in that a snow removal groove is formed in the snow removal sliding device, a rolling wheel is arranged in the middle of the interior of the snow removal groove and can roll on the power transmission line, electromagnetic rotating devices are arranged on two sides of the interior of the snow removal groove, accumulated snow in the snow removal groove can be removed after the electromagnetic rotating devices are operated, and an electromagnetic fixing device is arranged at the opening of the snow removal groove and can fix the power transmission line in the snow removal groove;
an electromagnetic moving device is arranged between the snow removing sliding device and the sliding groove, and the electromagnetic moving device is operated to move in the sliding groove so as to control the position of the snow removing sliding device in the sliding groove;
the device comprises an adjusting rod used for connecting an unmanned aerial vehicle body and a snow removing device, wherein an electromagnetic adjusting device is arranged in the middle of the adjusting rod, one end of the electromagnetic adjusting device is connected with a rotating end surface rod body of a spherical structure in a direction adjusting device, and the other end of the electromagnetic adjusting device is connected with the bottom of the unmanned aerial vehicle body through a direction rotating device;
install the controller on the unmanned aerial vehicle body, be equipped with communication device in this controller, this communication device passes through communication system and remote control system set up remote communication, this controller can control electromagnetism rotating device, electromagnetism fixing device, electromagnetism mobile device and electromagnetic adjusting device's operation, clears away transmission line's snow to and can control the position between unmanned aerial vehicle body and the snow removing device, make the unmanned aerial vehicle motion move ahead the in-process, the direction of snow removing device has stability.
2. The snow removal control system for unmanned aerial vehicles of claim 1, further comprising an unmanned aerial vehicle unit with an observation function, wherein the unmanned aerial vehicle unit has a plurality of unmanned aerial vehicles distributed on the upper side and both sides of the snow removal unmanned aerial vehicle body, the unmanned aerial vehicle is provided with a picture detection function, the operation state of the snow removal unmanned aerial vehicle on the power transmission line can be observed, and the unmanned aerial vehicle is connected with the remote control system through the communication system, and can transmit the detected picture into the remote control system.
3. The snow removal control system for the unmanned aerial vehicle as claimed in claim 1, wherein the electromagnetic rotating device comprises an electromagnetic device and a rotating blade, wherein the rotating blade is installed in the electromagnetic device, the electromagnetic device can drive the rotating blade to rotate after operation, and the electromagnetic device is connected with the controller, so that the controller can control the rotating blade in the electromagnetic rotating device to rotate, and snow on the power transmission line inside the snow removing groove can be removed.
4. The unmanned aerial vehicle snow removal control system of claim 1, wherein the electromagnetic fixing device comprises an electromagnetic device and a telescopic rod, wherein the electromagnetic device is installed at an opening of the snow removal groove, the telescopic rod is installed in the electromagnetic device, and after the electromagnetic device operates, the telescopic rod can be driven to extend out to fix the power transmission line in the early snow removal groove.
5. The unmanned aerial vehicle snow removal control system of claim 1, characterized in that the electromagnetic movement device comprises an electromagnetic device and a mechanical movement device, wherein the mechanical movement device is installed in the sliding groove, the electromagnetic device is installed on the mechanical movement device, the mechanical movement device can move left and right in the sliding groove after the electromagnetic device is turned on, and the electromagnetic device is connected with the controller, so that the controller can control the operation of the electromagnetic movement device and can control the position between the snow removal groove and the power transmission line.
6. The unmanned aerial vehicle snow removal control system of claim 1, characterized in that, electromagnetism adjusting device includes electromagnetic means, and electromagnetic means installs on adjusting the pole, can control the length of adjusting the pole, electromagnetic means passes through the connecting wire and links to each other with the controller, through controller operation electromagnetic means, can the length of automatic control adjusting lever, control snow removing unmanned aerial vehicle body and snow removing device between the position.
7. The snow removal control system for the unmanned aerial vehicle as claimed in claim 1, wherein the snow remover is provided with a balance detection sensor capable of detecting an offset angle of a tower structure of the snow remover on the power transmission line, and the balance detection sensor is connected with the controller so that the controller can balance a parameter value in the detection sensor.
8. The snow removal control system for the unmanned aerial vehicle as claimed in any one of claims 2 to 7, wherein the controller comprises a digital quantity output module and a signal detection module, the digital quantity output module is connected with the electromagnetic rotating device, the electromagnetic fixing device, the electromagnetic moving device and the electromagnetic adjusting device, so that the controller can control the operation of the electromagnetic rotating device, the electromagnetic fixing device, the electromagnetic moving device and the electromagnetic adjusting device, and the signal detection module is connected with the balance detection sensor, so that the controller can receive a parameter value in the balance detection sensor.
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| CN202111462534.2A CN114336486B (en) | 2021-12-02 | 2021-12-02 | Unmanned aerial vehicle snow removal control system |
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| CN202111462534.2A CN114336486B (en) | 2021-12-02 | 2021-12-02 | Unmanned aerial vehicle snow removal control system |
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| CN114336486B (en) | 2023-09-26 |
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