CN114966718A - Distance measuring device adaptive to unmanned aerial vehicle and using method - Google Patents
Distance measuring device adaptive to unmanned aerial vehicle and using method Download PDFInfo
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- CN114966718A CN114966718A CN202210516221.9A CN202210516221A CN114966718A CN 114966718 A CN114966718 A CN 114966718A CN 202210516221 A CN202210516221 A CN 202210516221A CN 114966718 A CN114966718 A CN 114966718A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a distance measuring device adaptive to an unmanned aerial vehicle and a using method thereof, belonging to the distance measuring device of the unmanned aerial vehicle, comprising an insulating main body frame, the unmanned aerial vehicle and an unmanned aerial vehicle remote control, wherein an arc-shaped track is arranged outside the insulating main body frame, the length of the arc-shaped track is half of the arc-shaped surface at the outer end of the insulating main body frame, a slide block is arranged on the arc-shaped track, one end of the slide block, back to the arc-shaped track, is connected with the bottom of the unmanned aerial vehicle, and a weighting block is arranged at the bottom of the insulating main body frame and is larger than the dead weight of the unmanned aerial vehicle; laser range finder is installed at unmanned aerial vehicle's top, and laser range finder is suitable for vertical measurement to the ground distance, and the drive wheel is installed to the bottom of insulating main part frame. The invention solves the problems that the unmanned aerial vehicle is difficult to detect accurately during inspection, and the inspection robot is difficult to automatically hang on a high-voltage line.
Description
Technical Field
The invention belongs to a distance measuring device for an unmanned aerial vehicle, and particularly relates to a distance measuring device adaptive to the unmanned aerial vehicle and a using method.
Background
According to the electric power safety requirement, the electric transmission line and objects such as trees need to keep a safe distance.
Conventionally, after a person measures the distance between a measured object and a power transmission line by using a telescope and a height measuring instrument, the distance is calculated by using the pythagorean theorem. On one hand, the power transmission line is in a bending state, and on the other hand, the visual angle of a person on the ground is easily highly confused by trees, so that repeated measurement and calculation are needed. The measurement precision is low and is easily influenced by subjective judgment of people, so that the method is not in line with the practice. And is also affected by weather, ground conditions, etc.
However, the method adopts unmanned detection and then carries out background data simulation calculation, so that the data analysis is complex and the rechecking cannot be carried out on site.
For example, CN201910256341.8 a transmission line patrols and examines robot based on unmanned aerial vehicle platform can utilize unmanned aerial vehicle's flight to fly to the transmission line in the solution and patrol and examine, can utilize peculiar transmission line running gear will patrol and examine the robot to hang on the transmission line cable and patrol and examine along the transmission line cable to the transmission line cable that length is big moreover, has greatly increased time, scope and the efficiency that unmanned aerial vehicle patrolled and examined.
However, how to hoist the inspection robot to the power transmission line cannot be avoided, and because the actual flying of the unmanned aerial vehicle causes strong magnetic interference, how to avoid the inspection robot is not described in a file.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem of unmanned aerial vehicle when patrolling and examining, be difficult to detect the accuracy, and patrol and examine the robot and be difficult to hang to the high-voltage line etc. automatically is solved.
In order to solve the technical problems, the inventor obtains the technical scheme of the invention through practice and summary, and the invention discloses a distance measuring device adaptive to an unmanned aerial vehicle, which comprises an insulating main body frame, the unmanned aerial vehicle and an unmanned aerial vehicle remote control unit, wherein the insulating main body frame is in an arc shape, an arc-shaped track is arranged outside the insulating main body frame, the length of the arc-shaped track is half of the arc-shaped surface of the outer end of the insulating main body frame, a sliding block is arranged on the arc-shaped track and is suitable for sliding on the arc-shaped track, one end of the sliding block, back to the arc-shaped track, is connected with the bottom of the unmanned aerial vehicle, and a weighting block is arranged at the bottom of the insulating main body frame and is larger than the dead weight of the unmanned aerial vehicle; the top of the unmanned aerial vehicle is provided with a laser range finder, the laser range finder is suitable for vertically measuring the ground distance, and the bottom of the insulating main body frame is provided with a driving wheel; the unmanned aerial vehicle is also provided with a brushless holder and a flight battery, the flight battery is suitable for supplying power to the brushless holder, and the brushless holder is suitable for outputting the electric unmanned aerial vehicle to run; be suitable for between unmanned aerial vehicle and the unmanned aerial vehicle remote control to carry out wireless communication through unmanned aerial vehicle flight control link, install the display panel on the unmanned aerial vehicle remote control and be suitable for and show laser range finder on the unmanned aerial vehicle in real time. The insulating material can be neoprene, and can be used for low voltage below 110 kv.
Preferably, install driving motor in the insulating main part frame, driving motor is suitable for downward output, first bevel gear is installed to driving motor's output, first bevel gear external toothing has second bevel gear, second bevel gear installs on output shaft one, straight-teeth gear one still is installed to output shaft one, straight-teeth gear external toothing has the auxiliary gear, the auxiliary gear is suitable for installing at the transition epaxially, the auxiliary gear external toothing has straight-teeth gear two, install output shaft two on the straight-teeth gear two, install the drive wheel on the output shaft two, the drive wheel is suitable for to connect and walks on the high-tension line.
Preferably, a pressure-bearing box is installed below the driving motor, the first output shaft and the second output shaft are both installed in the pressure-bearing box, and a bearing pad is installed on the pressure-bearing box and is suitable for abutting against the output end of the driving motor.
Preferably, be provided with the spacing spout that parallels with the cambered surface in the arc track, the both ends of slider are provided with the stopper, the stopper is suitable for to install in spacing spout and is suitable for to slide in spacing spout, the slider is installed the go-between back to one side of arc track, go-between and slider fixed connection, install insulating hawser under the unmanned aerial vehicle, the one end of insulating hawser is connected with the go-between.
Preferably, the unmanned aerial vehicle comprises a carbon fiber rack, the vertical section of the carbon fiber rack is I-shaped, and a self-locking paddle is mounted at the end part of the carbon fiber rack;
install the connection box on the carbon fiber frame, including APM flight control module, power module and communication module in the connection box, APM flight control module includes laser ranging module, temperature and humidity sensor, MCU, URAT interface, the flight battery is the high rate battery, the flight battery is suitable for adopting XT30 interface to be connected the back with the flight battery and is laser ranging module, temperature and humidity sensor, MCU power supply, laser ranging module, temperature and humidity sensor, URAT interface respectively with MCU both way junction, the URAT interface is connected with unmanned aerial vehicle's communication unit.
Preferably, the outer end of the MCU is at least connected with an HMC5883 compass and a gyroscope, the HMC5883 compass and the gyroscope are both connected to the MCU through installing corresponding level switches, and the HMC5883 compass and the gyroscope are suitable for correspondingly controlling the direction of the unmanned aerial vehicle.
Preferably, the bottom of the insulating main body frame is provided with a bayonet part, the upper end of the bayonet part is vertical, and the bayonet part is suitable for being limited and connected to a high-voltage line;
the arc is installed to the lower extreme of slider, arc and slider fixed connection, the weight block can be dismantled with insulating main part frame and be connected, install oblique notch in the weight block, oblique notch is suitable for the arc to peg graft.
Preferably, the bottom of the bayonet part is a trapezoidal inverted opening, a through hole is formed in the bottom of the arc track, the cross section of the arc plate is smaller than that of the sliding block, and the size of the through hole is matched with that of the arc plate.
A use method of a distance measuring device adaptive to an unmanned aerial vehicle comprises the following steps:
the installation step:
a1, covering the surface of an insulating main body frame with an insulating material, wherein the insulating main body frame is not entirely made of a metal material, arranging an arc-shaped rail on the insulating main body frame or arranging a jointing plate on a welding plate, wherein the jointing plate is arc-shaped, the surface of the jointing plate is poured with the insulating material, the jointing plate is suitable for being provided with two groups of parallel butts, the middle of the jointing plate forms the arc-shaped rail, and the jointing plate is fixedly arranged on the insulating main body frame;
a2, installing a weighting block at the bottom of the insulation main body frame, installing a connecting ring on the sliding block, installing an insulation cable on the connecting ring, connecting the other end of the insulation cable with the bottom of the unmanned aerial vehicle, wherein the length of the insulation cable is more than 6m and is more than the safety distance between a high-voltage line and the unmanned aerial vehicle;
a3, installing a driving motor at a bayonet part on an insulation main body frame, installing a bearing pad and a bearing box at the output end of the driving motor downwards, wherein the bearing box is fixedly connected with the insulation main body frame, installing a first output shaft and a second output shaft inside, installing a second bevel gear on the corresponding first output shaft and meshing with a first bevel gear, installing a first straight gear and meshing with the second straight gear, and installing a driving wheel on the second output shaft and driving the driving wheel to run;
a4, a camera shooting component is installed at the bottom of the unmanned aerial vehicle flying normally and is communicated with an MCU (micro control unit), a laser range finder rotates downwards through a brushless holder, and the laser range finder monitors the ground clearance downwards and transmits the ground clearance to the remote control position of the unmanned aerial vehicle in real time;
the method comprises the following steps:
b1, driving the unmanned aerial vehicle to start from a starting point, hoisting and flying the installed insulating main body frame to the upper end of the high-voltage wire to be measured through the unmanned aerial vehicle, slowly descending until the height is at least greater than the length of the insulating cable rope, collecting data downwards through the camera shooting component, and transmitting the data to a remote control position of the unmanned aerial vehicle in real time;
b2, after the clamping of the clamping opening part and the high-voltage line is completed, the unmanned aerial vehicle is driven to upwards straighten the insulating cable and then rotate along the arc-shaped track until the bottom of the unmanned aerial vehicle cannot rotate along the arc-shaped track, at the moment, the unmanned aerial vehicle is installed according to the design, the arc-shaped plate is inserted into the chute opening, and the weight of the unmanned aerial vehicle and the weight of the weighting block form balance;
then, the high-voltage wire is used as a wire sleeve and a wireless sleeve, and the following setting is adopted:
m, for the wired sleeve, a driving motor is adopted to drive a driving wheel of the wired sleeve to walk on the actual wired sleeve part, so that the safe flying distance of the actual unmanned aerial vehicle is ensured, and the integral insulating main body frame is driven by the driving motor to realize wiring on a high-voltage wire;
n, for the wireless cover, adopt step B1 and B2, later after step A4, normally adopt the auto-lock oar on the carbon fiber frame to advance, when using, drive unmanned aerial vehicle and drive and walk the line on the high-tension line behind insulating main part frame bottom.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, firstly, the unmanned aerial vehicle is used for hoisting, the inspected insulating main body frame can be automatically installed and hoisted on the high-voltage line, and the actual transportation effect is ensured because the unmanned aerial vehicle keeps a safe interval, so that the safety problem caused by the fact that the existing inspection robot needs to be installed on the high-voltage line manually is effectively solved; secondly, can rotate the structure that the back keeps higher balanced effect on the high-voltage line through the design, drive insulating main part frame and come the motion after realizing unmanned aerial vehicle's stable hoist and mount.
According to the invention, the position of the high-voltage wire entering the insulating main body frame is limited by the bayonet part on the insulating main body frame, and then the overall quality of the overall insulating main body frame is reduced by a relatively spatial structure, so that the load pressure on the unmanned aerial vehicle is reduced; the sliding of the sliding block along the arc surface is limited through the arc track and the limiting sliding groove of the arc track, the lower end of the position of the high-voltage wire is limited when the sliding block is at the lowest position through the arc plate, and then the balance effect of the unmanned aerial vehicle and the weight is realized, so that the overturning probability of the insulating main body frame is reduced; different connection transmission modes are realized through the driving of the unmanned aerial vehicle or the driving of the driving motor.
When the cable sleeve mode is adopted, voltage influence is avoided, the driving wheel can be stably driven to rotate in a mode that the driving motor drives the bevel gear and the straight gear, and then the driving wheel can move on a high-voltage line; when wireless cover, ensure safe motion through the unmanned aerial vehicle transmission, and can install the insulator on the insulating hawser and further guarantee insulating effect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is an elevational view of the initial flight suspension of the present invention;
FIG. 2 is a view of the unmanned aerial vehicle structure of the present invention;
FIG. 3 is a signal diagram of the present invention;
fig. 4 is a side view of the drone of the present invention;
FIG. 5 is a cross-sectional view of the insulating body mount of the present invention;
FIG. 6 is an enlarged view of portion A of FIG. 5;
FIG. 7 is an enlarged view of portion B of FIG. 5;
FIG. 8 is a view showing a structure of a bonded panel according to the present invention;
FIG. 9 is a side flight suspension view of the present invention;
figure 10 is a diagram of the balance of the suspended high voltage line of the invention;
FIG. 11 is a block schematic of the present invention;
FIG. 12 is a schematic diagram of an APM flight control module of the present invention.
In the figure: 1. an insulating main body frame; 2. an unmanned aerial vehicle; 3. remote control by an unmanned aerial vehicle; 4. an arc-shaped track; 5. a slider; 6. a weighting block; 7. a laser range finder; 8. a drive wheel; 9. a brushless holder; 10. a flying battery; 11. a drive motor; 12. a first bevel gear; 13. a second bevel gear; 14. a first output shaft; 15. a first straight gear; 16. a second straight gear; 17. a second output shaft; 18. a pressure-bearing box; 19. a load-bearing pad; 20. a limiting chute; 21. a connecting ring; 22. an insulated cable; 23. a carbon fiber frame; 24. a self-locking paddle; 25. a connection box; 26. a bayonet part; 27. an arc-shaped plate; 28. a beveled notch; 29. a through hole; 30. attaching a plate; 31. an image pickup unit; 32. an auxiliary wheel; 100. a high-voltage line; 201. an APM flight control module; 202. a power supply module; 203. a communication module; 204. a laser ranging module; 205. a temperature and humidity sensor; 206. MCU; 207. a URAT interface; 208. an HMC5883 compass; 209. a gyroscope.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is 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.
The application of the principles of the present invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1
In an embodiment of the invention, after referring to fig. 1 to 4, the invention is a distance measuring device adaptive to an unmanned aerial vehicle, comprising an insulating main body frame 1, an unmanned aerial vehicle 2 and an unmanned aerial vehicle remote control 3, wherein the insulating main body frame 1 is arc-shaped, a framework is arranged inside the insulating main body frame 1, an arc-shaped track 4 is arranged outside the insulating main body frame 1, the length of the arc-shaped track 4 is half of the arc-shaped surface of the outer end of the insulating main body frame 1, a slide block 5 is arranged on the arc-shaped track 4, the slide block 5 is suitable for sliding on the arc-shaped track 4, one end of the slide block 5, which is back to the arc-shaped track 4, is connected with the bottom of the unmanned aerial vehicle 2, a weighting block 6 is arranged at the bottom of the insulating main body frame 1, and the weighting block 6 is larger than the self weight of the unmanned aerial vehicle 2; the top of the unmanned aerial vehicle 2 is provided with a laser range finder 7, the laser range finder 7 is suitable for vertically measuring the ground distance, and the bottom of the insulating main body frame 1 is provided with a driving wheel 8; the unmanned aerial vehicle 2 is also provided with a brushless holder 9 and a flight battery 10, the flight battery 10 is suitable for supplying power to the brushless holder 9, and the brushless holder 9 is suitable for outputting the electric unmanned aerial vehicle 2 to run; be suitable for between unmanned aerial vehicle 2 and the unmanned aerial vehicle remote control 3 to carry out radio communication through unmanned aerial vehicle flight control link, install on the unmanned aerial vehicle remote control 3 that display panel 301 is suitable for and shows 7 real-time laser range finders on the unmanned aerial vehicle 2.
Example 2
Referring to fig. 5 to 8, in another embodiment of the present invention, on the basis of example 1, a driving motor 11 is installed in an insulating main body frame 1, the driving motor 11 is suitable for outputting downwards, a first bevel gear 12 is installed at an output end of the driving motor 11, a second bevel gear 13 is externally engaged with the first bevel gear 12, the second bevel gear 13 is installed on a first output shaft 14, a first spur gear 15 is further installed on the first output shaft 14, an auxiliary gear 32 is externally engaged with the first spur gear 15, the auxiliary gear 32 is suitable for being installed on a transition shaft, a second spur gear 16 is externally engaged with the auxiliary gear 32, a second output shaft 17 is installed on the second spur gear 16, a driving wheel 8 is installed on the second output shaft 17, and the driving wheel 8 is suitable for being connected to a high-voltage line 100 to travel.
A pressure bearing box 18 is installed below the driving motor 11, the first output shaft 14 and the second output shaft 17 are installed in the pressure bearing box 18, and a bearing pad 19 is installed on the pressure bearing box 18 and is suitable for abutting against the output end of the driving motor 11.
As shown in fig. 5, be provided with the spacing spout 20 that parallels with the cambered surface in the arc track 4, the both ends of slider 5 are provided with the stopper, and the stopper is suitable for installing in spacing spout 20 and is suitable for slideing in spacing spout 20, and go-between 21 is installed to one side of slider 5 back to arc track 4, go-between 21 and slider 5 fixed connection, installs insulating hawser 22 under unmanned aerial vehicle 2, and insulating hawser 22's one end is connected with go-between 21.
A bayonet part 26 is arranged at the bottom of the insulating main body frame 1, the upper end of the bayonet part 26 is vertical, and the bayonet part 26 is suitable for being limited and connected to the high-voltage wire 100;
the arc 27 is installed to the lower extreme of slider 5, arc 27 and slider 5 fixed connection, and weight 6 can be dismantled with insulating main part frame 1 and be connected, installs oblique notch 28 in the weight 6, and oblique notch 28 is suitable for arc 27 to peg graft. The bottom of the bayonet part 26 is a trapezoidal inverted opening, the bottom of the arc-shaped track 4 is provided with a through hole 29, the cross section of the arc-shaped plate 27 is smaller than that of the sliding block 5, and the size of the through hole 29 is matched with that of the arc-shaped plate 27.
Example 3
Referring to fig. 1 to 11, in another embodiment of the present invention, on the basis of example 2, the unmanned aerial vehicle 2 includes a carbon fiber frame 23, a vertical section of the carbon fiber frame 23 is i-shaped, and a self-locking paddle 24 is installed at an end of the carbon fiber frame 23;
the carbon fiber rack 23 is provided with a connecting box 25, the connecting box 25 comprises an APM flight control module 201, a power supply module 202 and a communication module 203, the APM flight control module 201 comprises a laser ranging module 204, a temperature and humidity sensor 205, an MCU206 and a URAT interface 207, and the flight battery 10 is a high-rate battery.
As shown in fig. 11, for a schematic circuit block diagram of the APM flight control module, the flight battery 10 is adapted to use an XT30 interface to connect with the flight battery 10, and then supplies power to the laser ranging module 204, the temperature and humidity sensor 205, and the MCU206, the laser ranging module 204, the temperature and humidity sensor 205, and the URAT interface 207 are respectively bidirectionally connected with the MCU206, and the URAT interface 207 is connected with the communication unit of the unmanned aerial vehicle 2. The outer end of the MCU206 is at least connected with an HMC5883 compass 208 and a gyroscope 209, the HMC5883 compass 208 and the gyroscope 209 are both connected to the MCU206 by installing corresponding level switches, and the HMC5883 compass 208 and the gyroscope 209 are suitable for correspondingly controlling the direction of the unmanned aerial vehicle 2.
Specifically, a use method of the distance measuring device adaptive to the unmanned aerial vehicle comprises the following steps:
the installation step:
a1, covering the surface of an insulating main body frame 1 with an insulating material, wherein the whole insulating main body frame is made of metal materials, arranging an arc-shaped rail 4 on the insulating main body frame 1 or installing a jointing plate 30 on a welding plate, wherein the jointing plate 30 is arc-shaped, the surface of the jointing plate 30 is poured with the insulating material, the jointing plate 30 is suitable for installing two groups of parallel butts, the middle of the jointing plate is formed into the arc-shaped rail 4, and the jointing plate 30 is fixedly installed on the insulating main body frame 1;
a2, installing a weight 6 at the bottom of the insulation main body frame 1, installing a connecting ring 21 on the sliding block 5, installing an insulation cable 22 on the connecting ring 21, connecting the other end of the insulation cable 22 with the bottom of the unmanned aerial vehicle 2, wherein the length of the insulation cable 22 is more than 6 m; wherein 6m is the basic requirement of unmanned aerial vehicle aerial photography safety operation (CH/Z3001-2010) which commonly stipulates the safety distance between the unmanned aerial vehicle 2 and the 10KV high-voltage line 100.
A3, installing a driving motor 11 at a bayonet part 26 on an insulation main body frame 1, installing a bearing pad 19 and a pressure-bearing box 18 at the output end of the driving motor 11 downwards, wherein the pressure-bearing box 18 is fixedly connected with the insulation main body frame 1, installing a first output shaft 14 and a second output shaft 17 inside, installing a second bevel gear 13 on the corresponding first output shaft 14 and meshing with a first bevel gear 12, installing a first straight gear 15 and meshing with a second straight gear 16, and installing a driving wheel 8 on the second output shaft 17 and driving the driving wheel 8 to run;
a4, a camera part 31 is installed at the bottom of the unmanned aerial vehicle 2 flying normally and is communicated with an MCU206, a laser range finder 7 rotates downwards through a brushless holder 9, the laser range finder 7 monitors the ground clearance downwards and transmits the ground clearance to an unmanned aerial vehicle remote control 3 in real time, the unmanned aerial vehicle remote control 3 displays the ground clearance and records the position or the running time of an insulation main body frame 1 to obtain the coordinate of an actual position point, and the coordinate can be recorded for reexamination;
the method comprises the following steps:
b1, driving the unmanned aerial vehicle 2 to start from a starting point, lifting and flying the installed insulation main body frame 1 to the upper end of the high-voltage wire 100 to be measured through the unmanned aerial vehicle 2, wherein the height of the insulation main body frame is at least greater than the length of the insulation cable 22, slowly descending the insulation cable, and downwards collecting data until the camera part 31 and transmitting the data to the unmanned aerial vehicle remote control 3 in real time;
b2, after the clamping between the clamping opening 26 and the high-voltage line 100 is completed, driving the unmanned aerial vehicle 2 to straighten the insulated cable 22 upwards and rotate along the arc-shaped track 4 until the bottom of the insulated cable cannot rotate along the arc-shaped track 4, and at the moment, installing the unmanned aerial vehicle according to the design, and inserting the arc-shaped plate 27 into the inclined notch 28;
then, the high-voltage wire 100 is used as a wired sleeve and a wireless sleeve, and the following settings are adopted:
m, for the wired sleeve, a driving motor 11 is adopted to drive a driving wheel 8 of the wired sleeve to walk on the actual wired sleeve part, so that the actual safe flight distance of the unmanned aerial vehicle 2 is ensured, and the integral insulating main body frame 1 is driven by the driving motor 11 to realize wiring on the high-voltage line 100;
n, for the wireless cover, adopt step B1 and B2, later after step A4, normally adopt the auto-lock oar 24 on carbon fiber frame 23 to advance, when using, drive unmanned aerial vehicle 2 and drive and walk on high-voltage line 100 behind insulating main part frame 1 bottom.
Since the distribution of the overall high voltage line 100 belongs to the catenary distribution, the practical calculation formula is an ideal model formula, and the practical performance is not good. Can obtain the state diagram through designing the safe distance under the high-tension line, can directly obtain the state diagram through camera part 31, or obtain position point A at 7 during downward workings of laser range finder, through climbing a little trees, come the altitude detection or carry out unmanned aerial vehicle 2 at its top and transversely patrol and examine and come to verify.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The utility model provides an adaptation unmanned aerial vehicle's range unit which characterized in that: the unmanned aerial vehicle comprises an insulating main body frame (1), an unmanned aerial vehicle (2) and an unmanned aerial vehicle remote control unit (3), wherein the insulating main body frame (1) is arc-shaped, an arc-shaped track (4) is installed outside the insulating main body frame (1), the length of the arc-shaped track (4) is half of the arc-shaped surface of the outer end of the insulating main body frame (1), a sliding block (5) is installed on the arc-shaped track (4), the sliding block (5) is suitable for sliding on the arc-shaped track (4), one end, back to the arc-shaped track (4), of the sliding block (5) is connected with the bottom of the unmanned aerial vehicle (2), a weighting block (6) is installed at the bottom of the insulating main body frame (1), and the weighting block (6) is larger than the dead weight of the unmanned aerial vehicle (2); the top of the unmanned aerial vehicle (2) is provided with a laser range finder (7), the laser range finder (7) is suitable for vertically measuring the distance to the ground, and the bottom of the insulating main body frame (1) is provided with a driving wheel (8); the unmanned aerial vehicle (2) is further provided with a brushless tripod head (9) and a flight battery (10), the flight battery (10) is suitable for supplying power to the brushless tripod head (9), and the brushless tripod head (9) is suitable for outputting the electric unmanned aerial vehicle (2) to operate; be suitable for between unmanned aerial vehicle (2) and unmanned aerial vehicle remote control (3) to carry out radio communication through unmanned aerial vehicle flight control link, install on unmanned aerial vehicle remote control (3) display panel (301) and be suitable for laser range finder (7) real-time display on unmanned aerial vehicle (2).
2. The range unit of claim 1, wherein: install driving motor (11) in insulating main part frame (1), driving motor (11) are suitable for exports down, first bevel gear (12) are installed to the output of driving motor (11), first bevel gear (12) external toothing has second bevel gear (13), second bevel gear (13) are installed on output shaft (14), still install straight-teeth gear (15) on output shaft (14), straight-teeth gear (15) external toothing has auxiliary gear (32), auxiliary gear (32) are suitable for and install at the transition epaxially, auxiliary gear (32) external toothing has straight-teeth gear two (16), install output shaft two (17) on straight-teeth gear two (16), install drive wheel (8) on output shaft two (17), drive wheel (8) are suitable for connecting and walk on high-voltage line (100).
3. The ranging device adapted to the unmanned aerial vehicle of claim 2, wherein: a pressure-bearing box (18) is installed below the driving motor (11), the first output shaft (14) and the second output shaft (17) are installed in the pressure-bearing box (18), and a bearing pad (19) is installed on the pressure-bearing box (18) and is suitable for abutting against the output end of the driving motor (11).
4. The range unit of claim 1, wherein: be provided with in arc track (4) with spacing spout (20) that the cambered surface parallels, the both ends of slider (5) are provided with the stopper, the stopper is suitable for to install in spacing spout (20) and is suitable for to slide in spacing spout (20), go-between (21) are installed to one side of slider (5) back to arc track (4), go-between (21) and slider (5) fixed connection, install insulating hawser (22) under unmanned aerial vehicle (2), the one end of insulating hawser (22) is connected with go-between (21).
5. The ranging device adapted to the unmanned aerial vehicle of claim 4, wherein: the unmanned aerial vehicle (2) comprises a carbon fiber rack (23), the vertical section of the carbon fiber rack (23) is I-shaped, and a self-locking paddle (24) is installed at the end part of the carbon fiber rack (23);
install connection box (25) on carbon fiber frame (23), fly control module (201), power module (202) and communication module (203) including APM in connection box (25), APM flies control module (201) and includes laser ranging module (204), temperature and humidity sensor (205), MCU (206), URAT interface (207), flight battery (10) are the high rate battery, flight battery (10) are suitable for adopting XT30 interface and flight battery (10) to be connected the back and are laser ranging module (204), temperature and humidity sensor (205), MCU (206) power supply, laser ranging module (204), temperature and humidity sensor (205), URAT interface (207) respectively with MCU (206) both way junction, URAT interface (207) are connected with the communication unit of unmanned aerial vehicle (2).
6. The ranging device adapted to the unmanned aerial vehicle of claim 5, wherein: the outer end of the MCU (206) is at least connected with an HMC5883 compass (208) and a gyroscope (209), the HMC5883 compass (208) and the gyroscope (209) are both connected to the MCU (206) through installation of corresponding level conversion, and the HMC5883 compass (208) and the gyroscope (209) are suitable for correspondingly controlling the direction of the unmanned aerial vehicle (2).
7. A ranging apparatus adapted for unmanned aerial vehicle according to any of claims 1-6, wherein: a bayonet part (26) is formed in the bottom of the insulating main body frame (1), the upper end of the bayonet part (26) is vertical, and the bayonet part (26) is suitable for being limited and connected to a high-voltage wire (100);
arc (27) are installed to the lower extreme of slider (5), arc (27) and slider (5) fixed connection, weight (6) can be dismantled with insulating main part frame (1) and be connected, install oblique notch (28) in weight (6), oblique notch (28) are suitable for arc (27) to peg graft.
8. The ranging device adapted to the unmanned aerial vehicle of claim 7, wherein: the bottom of bayonet part (26) is trapezoidal mouthful, the bottom of arc track (4) is provided with through-hole (29), the cross-section of arc (27) is less than the cross-section of slider (5), the size of through-hole (29) and the cross-section looks adaptation of arc (27).
9. Use of a ranging device adapted to a drone according to claim 8, characterised by the following steps:
the installation step:
a1, covering the surface of an insulating main body frame (1) with insulating materials, wherein the insulating main body frame is not entirely made of metal materials, arranging an arc-shaped rail (4) on the insulating main body frame (1) or installing a joint plate (30) on a welding plate, wherein the joint plate (30) is arc-shaped, the surface of the joint plate is poured with the insulating materials, the joint plate (30) is suitable for installing two groups of parallel butts, the middle of the joint plate forms the arc-shaped rail (4), and the joint plate (30) is fixedly installed on the insulating main body frame (1);
a2, installing a weighting block (6) at the bottom of an insulation main body frame (1), installing a connecting ring (21) on a sliding block (5), installing an insulation cable rope (22) on the connecting ring (21), connecting the other end of the insulation cable rope (22) with the bottom of an unmanned aerial vehicle (2), wherein the length of the insulation cable rope (22) is more than 6m and is more than the safety distance between a high-voltage wire (100) and the unmanned aerial vehicle (2);
a3, installing a driving motor (11) at a bayonet part (26) on an insulation main body frame (1), enabling the output end of the driving motor (11) to face downwards and installing a bearing pad (19) and a pressure-bearing box (18) at the output end, fixedly connecting the pressure-bearing box (18) with the insulation main body frame (1), installing a first output shaft (14) and a second output shaft (17) inside, installing a second bevel gear (13) on the corresponding first output shaft (14) and meshing with a first bevel gear (12), installing a first straight gear (15) and meshing with a second straight gear (16), installing a driving wheel (8) on the second output shaft (17) and driving the driving wheel (8) to run;
a4, a camera shooting component (31) is installed at the bottom of the unmanned aerial vehicle (2) in normal flight and is communicated with an MCU (206), a laser range finder (7) rotates downwards through a brushless holder (9), and the laser range finder (7) monitors the ground clearance downwards and transmits the ground clearance to the unmanned aerial vehicle remote control (3) in real time;
the method comprises the following steps:
b1, driving the unmanned aerial vehicle (2) to start from a starting point, hoisting and flying the installed insulating main body frame (1) to the upper end of the high-voltage wire (100) to be measured through the unmanned aerial vehicle (2), wherein the height of the insulating main body frame is at least greater than the length of the insulating cable rope (22), the insulating main body frame slowly descends until the camera shooting component (31) collects data downwards, and the data are transmitted to the remote control (3) of the unmanned aerial vehicle in real time;
b2, after the clamping between the bayonet part (26) and the high-voltage line (100) is completed, the unmanned aerial vehicle (2) is driven to straighten the insulation cable rope (22) upwards and then rotate along the arc-shaped track (4) until the bottom of the insulation cable rope cannot rotate along the arc-shaped track (4), at the moment, the insulation cable rope is installed according to the design, the arc-shaped plate (27) is inserted into the inclined notch (28), and the weight of the unmanned aerial vehicle (2) and the weight of the weighting block (6) form balance;
then, the high-voltage wire (100) is used as a wired sleeve and a wireless sleeve, and the following settings are adopted:
m, for the wired sleeve, a driving motor (11) mode is adopted to drive a driving wheel (8) of the wired sleeve to walk on the actual wired sleeve part, so that the safe flying distance of the actual unmanned aerial vehicle (2) is ensured, and the integral insulating main body frame (1) is driven by the driving motor (11) to realize wiring on the high-voltage wire (100);
n, for the wireless sleeve, steps B1 and B2 are adopted, then after step A4, a self-locking paddle (24) on a carbon fiber rack (23) is normally adopted to advance, and when the wireless sleeve is used, the unmanned aerial vehicle (2) is driven to the bottom of the insulating main body frame (1) and then driven to run on a high-voltage wire (100).
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