CN115840458A - Unmanned system of patrolling and examining of distribution network trouble - Google Patents
Unmanned system of patrolling and examining of distribution network trouble Download PDFInfo
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- CN115840458A CN115840458A CN202211697981.0A CN202211697981A CN115840458A CN 115840458 A CN115840458 A CN 115840458A CN 202211697981 A CN202211697981 A CN 202211697981A CN 115840458 A CN115840458 A CN 115840458A
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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
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- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
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- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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Abstract
The utility model provides an unmanned system of patrolling and examining of distribution network trouble, a serial communication port includes: a power grid inspection equipment for patrolling and examining the distribution network, the control platform that control power grid inspection equipment removed, and receive the human-computer interaction end that comes the data of power grid inspection equipment, the power grid inspection equipment includes the cloud platform, the aircraft main part, set up the damping device between cloud platform and aircraft main part, the cloud platform is provided with the shooting device, the thermal imaging device, positioner and wireless communication module, damping device includes the installation department of being connected with the aircraft main part and installs a plurality of shock attenuation units in the installation department, the damping unit includes the damping cover of being connected with the cloud platform, set up the clamp plate in the damping cover, the depression bar of connecting installation department and clamp plate, set up elastic element and telescopic bumper shock absorber between clamp plate and damping cover. Therefore, the stability of the aircraft main body and the holder can be improved.
Description
Technical Field
The utility model discloses distribution network patrols and examines technical field roughly relates to an unmanned system of patrolling and examining of distribution network trouble.
Background
The safe and stable operation of distribution network has vital effect to the normal development of guaranteeing enterprise's production and people's life, strengthens the work of patrolling and examining of distribution network, in time discovers the hidden danger that the electric wire netting probably exists, can effectively avoid the emergence of accident. However, thousands of kilometers of projects with short lines exist in China every year, and due to short paths and tight project time, the working strength is high in the process of routing inspection of distribution lines. Meanwhile, because the scale of the engineering is small, the data collection is inconvenient, and generally, the data can be only acquired through field inspection by workers. However, the line patrol period is long, the on-site patrol efficiency of the crew is low, and the capacity of the crew is required to be high.
Along with the becoming mature of unmanned aerial vehicle technique, the performance is perfect day by day, and unmanned aerial vehicle's application scenario is also constantly expanding, utilizes unmanned aerial vehicle to patrol and examine the distribution network and is favorable to reducing worker's group's ground working strength. Under the general condition, because the staff of worker needs to acquire the information of multiple different grade type, can install a large amount of collection equipment or other corollary equipment on unmanned aerial vehicle's cloud platform, for example camera, infrared measuring apparatu, driving motor etc.. However, the cradle head may shake during the movement of the unmanned aerial vehicle, which not only affects the stability of the movement of the unmanned aerial vehicle, but also causes the collection device to collect information unstably.
Disclosure of Invention
The present disclosure has been made in view of the above-mentioned state of the art, and an object thereof is to provide an unmanned inspection system for power distribution network faults, which can improve the stability of an aircraft body and a cradle head.
Therefore, the present disclosure provides an unmanned system of patrolling and examining of distribution network trouble, include: a power grid inspection equipment, control for patrolling and examining the distribution network the power grid inspection equipment removes control platform and receive and come from the human-computer interaction end of the data of equipment is patrolled and examined to the power grid, the power grid inspection equipment includes the aircraft main part, set up in the cloud platform of aircraft main part and set up in the cloud platform with damping device between the aircraft main part, the cloud platform is provided with shooting device, thermal imaging device, positioner and wireless communication module, the shooting device configuration is in when the power grid inspection equipment patrols and examines the distribution network shoot in order to acquire image information and discernment target object in the image information, thermal imaging device configuration is in when the power grid inspection equipment patrols and examines the distribution network carry out thermal imaging to the distribution network and detect in order to acquire thermal image information, positioner is configured to acquire the position information of equipment is patrolled and examined to the power grid, wireless communication module configuration will image information the thermal image information with position information send to the human-computer interaction end, damping device include with the installation department that the aircraft main part is connected with install in a plurality of damping unit of installation department, damping unit include with damping cover, set up with damping cover, clamp plate, damping unit that the cloud platform is connected in damping cover and telescopic damping device and damping device set up between damping device and the telescopic damping device.
Under the condition, the patrol personnel can acquire the image information, the thermal image information and the position information of the power distribution station through the man-machine interaction terminal, so that whether obstacles exist or not can be judged based on the image information, whether a heating abnormal component exists on the power distribution network or not can be judged based on the thermal image information, the abnormal position is judged based on the position information, and the maintenance is carried out in time. Because the cloud platform generally can set up more collection equipment and corollary equipment, the cloud platform is rocked and is produced the vibration in the in-process that the electric wire netting inspection equipment removed easily taking place, the aircraft main part also can be because of blowing, collision or misoperation produce the vibration at the flight in-process, consequently, utilize the damping device who sets up between cloud platform and aircraft main part to effectively improve the stability of aircraft main part, because utilize elastic element to absorb can release the energy of storage gradually after the produced vibration of cloud platform, and then form and vibrate, consequently, utilize elastic element and telescopic bumper shock absorber not and then can effectively absorb the vibration of cloud platform or aircraft main part simultaneously, can also restrain the vibration that elastic element formed after absorbing the vibration through telescopic bumper shock absorber, thereby the stability of aircraft main part and cloud platform has been improved.
In addition, according to the power distribution network fault unmanned inspection system, optionally, the photographing device includes a photographing module, an image processing module, an intelligent recognition module, a data storage module and a data transmission module, the photographing module is configured to acquire the image information, the image processing module is configured to reduce noise of the image information, the intelligent recognition module is configured to recognize a target object in the image information, and the data storage module is configured to store the image information and send the image information to the wireless communication module through the data transmission module. Under this condition, can strengthen the picture of image information and fall and make an uproar, send image information to the human-computer interaction end, can be convenient for patrol and examine personnel's observation, discern the target object, then can be based on the removal of the position control electric wire netting inspection equipment of target object in order to bypass the barrier to realize the stability of flight.
In addition, according to the unmanned inspection system for the power distribution network faults, the target object optionally comprises a line, a tower pole or an insulator in the power distribution network. In this case, since the target does not substantially dissipate heat during operation, it is difficult to determine the thermal image information obtained by the thermal imaging device, and therefore, by identifying the target in the image information, the number and position of the target in the image information can be determined, and the power grid inspection apparatus can be enabled to bypass the obstacle.
In addition, according to the power distribution network fault unmanned inspection system, optionally, the human-computer interaction end comprises at least one of a smart phone, a tablet computer, a notebook computer or a special intelligent device, and the human-computer interaction end comprises a display screen for displaying the image information, the thermal image information and the position information. Under the condition, the patrol personnel can carry the human-computer interaction end, and then the patrol personnel can patrol at any time. Meanwhile, the patrol personnel can judge whether the fault occurs or not based on the image information, the thermal image information and the position information.
In addition, according to the power distribution network fault unmanned inspection system, optionally, the cradle head comprises a protection device arranged on the shooting device, the protection device comprises a cleaning part and a transparent protection part, the protection part is arranged on the shooting device and comprises a concave surface and a convex surface opposite to the concave surface, the concave surface forms an inner cavity for accommodating at least a part of the shooting device, the cleaning part is arranged on the shooting device through a link mechanism, and the cleaning part comprises a cleaning piece and a motor for driving the cleaning piece to move in a manner of contacting the convex surface. In this case, by arranging the light-transmitting protective part and accommodating at least a part of the image detection device (for example, key parts such as a lens) in the inner cavity formed by the concave surface of the protective part for protection, the situation that sand, dust and the like damage at least a part of the image detection device (for example, key parts such as a lens) can be reduced, by arranging the cleaning part comprising the cleaning piece and the motor, the protective part but not the image detection device can be cleaned in time, the situation that the sand, dust and the like damage at least a part of the image detection device (for example, key parts such as a lens) due to direct touch can be reduced, and the influence of attachments such as water mist, sand and dust on the operation of the image detection device in the power grid inspection equipment can be reduced by cleaning in time. From this, can provide a power grid and patrol and examine equipment and protector thereof, can patrol and examine the time and carry out effective and lasting protection to image detection device at the power grid.
In addition, according to the power distribution network fault unmanned inspection system, optionally, the damping unit further comprises a limiting rod arranged between the pressing plate and the damping cover, and the limiting rod and the elastic element are respectively arranged on two sides of the pressing plate. In this case, the elastic element can be stabilized at the position of the limiting rod, and the situation that the swing amplitude of the elastic element is too large can be reduced in the shock absorption process, so that the shock absorption and shock absorption effects can be improved.
In addition, according to the unmanned inspection system for the faults of the power distribution network, optionally, the vibration reduction cover is provided with a through hole with the cross section area not smaller than that of the pressure rod, and the pressure rod penetrates through the through hole and is connected with the pressure plate. In this case, the compression rod can be allowed to slightly vibrate in the through hole, so that a relatively flexible connection is formed between the compression rod and the vibration reduction cover, and the vibration reduction and absorption effects are improved.
In addition, the unmanned inspection system for power distribution network faults according to the invention optionally comprises a plurality of elastic elements and at least one telescopic shock absorber, wherein the elastic elements are arranged around the telescopic shock absorber in a manner of surrounding the telescopic shock absorber. Under the circumstances, the shake generated by the aircraft main body during inspection can be absorbed through the elastic elements and the at least one telescopic shock absorber, for example, the elastic elements are used for absorbing shock, and rebound in the shock absorption process of the elastic elements (namely, the elastic elements can gradually release energy after storing energy) is inhibited through the telescopic shock absorbers, so that the stability of the acquisition equipment arranged on the tripod head can be improved.
In addition, according to the unmanned inspection system for power distribution network faults, the damping units are formed on the installation part in an array mode. In this case, the force applied to the plurality of damper units can be made uniform, and the vibration at each position can be absorbed.
In addition, according to the unmanned inspection system for faults of the power distribution network, optionally, the shock absorption unit further comprises a sensing unit, and the sensing unit is configured to measure the stress condition of the shock absorption unit and feed the stress condition back to the control platform. Under the condition, the working environment of power grid routing inspection can be judged based on the stress condition of the damping unit, and then a targeted control strategy can be adopted based on different working environments.
According to the unmanned system of patrolling and examining of distribution network trouble that can provide the stability of improvement aircraft main part and cloud platform according to this disclosure.
Drawings
Fig. 1 is a schematic view illustrating an application scenario of an unmanned inspection system for power distribution network fault according to an example of the present disclosure.
Fig. 2 is a schematic diagram illustrating a power grid inspection device according to an example of the present disclosure.
Fig. 3 is a schematic structural diagram of the power grid inspection equipment according to the example in fig. 2, which is partially disassembled.
Fig. 4 is a schematic diagram illustrating a pan-tilt and a capturing device according to an example of the present disclosure.
Fig. 5 is a schematic diagram showing a photographing apparatus according to an example of the present disclosure.
Fig. 6 is a schematic view showing a structure of a shock absorbing device according to an example of the present disclosure.
Fig. 7 is an enlarged schematic view showing a structure of a region a in the shock absorbing device according to the example of fig. 6.
Fig. 8 is a schematic view illustrating installation of a guard according to an example of the present disclosure.
Fig. 9 is a schematic view showing a specific structure of a guard device according to an example of the present disclosure.
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Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be filled by a person with ordinary skill in the art without any creative effort based on the embodiments in the present disclosure, belong to the protection scope of the present disclosure.
It should be noted that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
The utility model provides an unmanned system of patrolling and examining of distribution network trouble, including the electric wire netting that is used for patrolling and examining the distribution network equipment, the control platform that the control electric wire netting patrols and examines equipment and remove, and the human-computer interaction end that receives the data that comes from the electric wire netting and patrols and examines equipment. Under the condition, even if the polling personnel do not go to the site for polling, the polling personnel can also poll and check faults through the information received by the human-computer interaction terminal, so that the working pressure and the working intensity of the polling personnel can be reduced.
The utility model provides a power grid inspection equipment, include the aircraft main part and set up in the cloud platform of aircraft main part, the cloud platform is provided with the shooting device, the thermal imaging device, positioner and wireless communication module, the shooting device configuration is taken in order to acquire image information and discern the object in the image information to the distribution network when the power grid inspection equipment patrols and examines the distribution network, the thermal imaging device configuration is carried out the thermal imaging to the distribution network and is detected in order to acquire the thermal image information when the power grid inspection equipment patrols and examines the distribution network, positioner configuration is configured to acquire the positional information that the power grid inspected equipment, wireless communication module configuration is with image information, thermal image information and positional information send to man-machine interaction end. Under the condition, the inspection personnel can acquire the image information, the thermal image information and the position information of the power distribution station through the human-computer interaction terminal, so that whether an obstacle exists or not can be judged based on the image information, whether a heating abnormal component exists in the power distribution network or not can be judged based on the thermal image information, the abnormal position is judged based on the position information, and the maintenance is carried out in time.
The utility model provides a power grid inspection equipment, including the aircraft main part, set up in the cloud platform of aircraft main part and set up the damping device between cloud platform and aircraft main part, damping device includes the installation department of being connected with the aircraft main part and installs in a plurality of shock attenuation units of installation department, the damping unit includes the damping cover of being connected with the cloud platform, set up the clamp plate in the damping cover, connect the depression bar of installation department and clamp plate, and set up elastic element and telescopic bumper shock absorber between clamp plate and damping cover. Because the cloud platform generally can set up more collection equipment and corollary equipment, the cloud platform is gone up the in-process that the equipment removed at the electric wire netting inspection and is taken place to rock easily and produce the vibration, the aircraft main part also can be because of blowing at the flight in-process, collision or misoperation produce the vibration, consequently utilize the damping device who sets up between cloud platform and aircraft main part can effectively improve the stability of aircraft main part, can release the energy that stores gradually after utilizing elastic element to absorb the produced vibration of cloud platform, and then form and vibrate, consequently, utilize elastic element and telescopic bumper shock absorber not and then can effectively absorb the vibration of cloud platform or aircraft main part simultaneously, can also restrain the vibration that forms after elastic element absorbs the vibration through telescopic bumper shock absorber, thereby the stability of aircraft main part and cloud platform has been improved.
The power distribution network fault unmanned inspection system related to the present disclosure is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic view illustrating an application scenario of an unmanned inspection system for power distribution network fault according to an example of the present disclosure.
In some examples, referring to fig. 1, an unmanned inspection system for power distribution network faults may be used to inspect the power distribution network. In some examples, the unmanned patrol system for power distribution network faults may include a power grid patrol device 10, a control platform 20, and a human-computer interaction terminal 30.
In some examples, the control platform 20 may be a platform for controlling the grid inspection device 10. In some examples, the routing inspection route of the grid inspection device 10 may be established at the control platform 20. In this case, the power grid inspection device 10 can be controlled to perform inspection according to the inspection route. In some examples, the patrol personnel can manually control the moving mode of the power grid patrol equipment 10 at the control platform 20, for example, the patrol personnel can control the power grid patrol equipment 10 to approach a fault point or a heating abnormal point for observation. In some examples, the control platform 20 may also receive image information fed back by the power grid inspection device 10 and control the movement of the power grid inspection device 10 based on the image information, in which case the power grid inspection device 10 can be controlled to bypass an object obstructing the movement and reduce collisions based on the image information.
Fig. 2 is a schematic diagram showing the power grid inspection device 10 according to the example of the present disclosure. Fig. 3 is a schematic diagram showing the power grid inspection apparatus 10 according to the example of fig. 2, partially disassembled.
In some examples, referring to fig. 2 and 3, the power grid inspection device 10 may include an aircraft body 11, a pan/tilt head 13 provided to the aircraft body 11, and a shock-absorbing device 12 provided between the pan/tilt head 13 and the aircraft body 11.
In some examples, the aircraft body 11 may be used to fly to a designated location of an electrical distribution grid. In some examples, the aircraft body 11 may be a rotorcraft.
In some examples, the aircraft body 11 may include feet 111 disposed at the bottom of the aircraft body 11, and the feet 111 may serve as the force bearing points when the aircraft body 11 lands on the ground. In some examples, the number of legs 111 may be multiple. In some examples, the pan/tilt head 13 may be located between the areas surrounded by the plurality of legs 111, in which case, it is possible to reduce the situation in which the pan/tilt head 13 contacts the landing point to be damaged when the aircraft body 11 lands on the landing point, or the situation in which the pan/tilt head 13 collides with an obstacle to be damaged during flight.
In some examples, referring to fig. 2, a pan-tilt 13 may be provided at the bottom of the aircraft body 11. In this case, the center of gravity of the power grid inspection apparatus 10 can be lowered, and the stability of the power grid inspection apparatus 10 can be improved.
In some examples, the pan-tilt 13 may be rotatably disposed to the aircraft body 11. In this case, the pan/tilt head 13 can be controlled to rotate to control the capturing direction of the capturing apparatus.
In some examples, referring to fig. 2, the sides of the pan/tilt head 13 may be substantially L-shaped. Specifically, the pan/tilt head 13 may include a connection column connected to the damping device 12 and a carrying platform connected to the connection column and used for carrying the capturing apparatus.
Fig. 4 is a schematic diagram showing the pan-tilt 13 and the capturing apparatus according to the example of the present disclosure. Fig. 5 is a schematic diagram illustrating the photographing device 131 according to an example of the present disclosure.
In some examples, referring to fig. 4, the pan/tilt head 13 may be provided with various acquisition devices, for example, the pan/tilt head 13 may be provided with a camera 131, a thermal imaging device 132, a positioning device 133, and a wireless communication module 134.
In some examples, the camera 131 may be configured to capture the power distribution network to acquire image information and identify a target object in the image information when the power grid inspection device 10 inspects the power distribution network.
In some examples, the capturing device 131 may obtain the image information by taking a picture, and in other examples, the capturing device 131 may also obtain the image information by recording.
In some examples, referring to fig. 5, camera 131 may have a camera module 1311, an image processing module 1312, a smart recognition module 1313, a data storage module 1314, and a data transmission module 1315.
In some examples, the capture module 1311 is configured to acquire image information and transmit the image information to the image processing module 1312, and the image processing module 1312 may be configured to denoise the image information. Under the condition, the enhancement and noise reduction can be carried out on the picture of the image information, and then inspection personnel can observe conveniently.
In some examples, the smart identification module 1313 may be configured to identify a target object in the image information, where the target object may be an obstacle, in which case the obstacle can be identified, so that movement of the power grid inspection device 10 to bypass the obstacle can be controlled based on the position of the obstacle.
In some examples, smart recognition module 1313 may identify the target object based on an image contour in the imagery information. In this case, in the distribution network, since the shape of the obstacle is relatively single, it is easy to determine the obstacle based on the contour, and the smart recognition module 1313 can be trained by inputting a large number of contours of the obstacle in different postures as training materials in the early stage.
In some examples, the target may be a less calorific obstruction, for example the target may comprise a line, a pole, or an insulator in an electrical distribution network. In this case, since the target does not substantially dissipate heat during operation, it is difficult to determine the thermal image information obtained by the thermal imaging device 132, and therefore, by identifying the target in the image information, the number and the position of the target in the image information can be determined, and the power grid inspection apparatus 10 can be caused to bypass an obstacle.
In some examples, the data storage module may be configured to store the image information, in which case the image information occupying a larger total volume can be stored in time.
In some examples, the data transmission module 1315 may be configured to send the image information in the data storage module to the wireless communication module 134. In this case, the wireless communication module 134 can transmit the image information to the human-machine interface 30.
In some examples, the data storage module may continuously store the image information by overwriting the original data, for example, if the storage space of the data storage module is about to run out, the newly acquired image information may be overwritten with the old image information, in this case, since the image information in the data storage module is continuously transmitted through the data transmission module 1315, even if it is overwritten, the human-machine interaction terminal 30 can store the complete data. In some examples, the data storage module can also have a larger storage space, and the image information in the data storage module is regularly sorted by the inspection personnel. In this case, the entire original image information can be stored and used as a backup.
In some examples, the data transmission module 1315 and the wireless communication module 134 may be wired transmissions. In this case, the transmission speed can be increased.
In some examples, as described above, the cloud deck 13 may also be provided with the thermal imaging device 132, and the thermal imaging device 132 may be configured to perform thermal imaging detection on the power distribution network to acquire thermal image information when the power distribution network inspection apparatus 10 inspects the power distribution network. In this case, it is possible to confirm whether or not the heat generation abnormality is present in the thermal image information, and further check it.
In some examples, the positioning device 133 may be configured to obtain location information of the grid inspection device 10. Under the condition, after the patrol personnel determine the fault by matching with the image information and the thermal image information, the position where the fault occurs can be determined by matching with the position information, and then the fault can be maintained by timely reaching the corresponding position. Meanwhile, the position of the power grid inspection equipment 10 can be determined so as to track the power grid inspection equipment 10 in real time, and the power grid inspection equipment 10 can be recovered based on the position information after the power grid inspection equipment 10 fails.
In some examples, the wireless communication module 134 may be configured to transmit the imagery information, thermal image information, and location information to the human interaction end 30. Under this condition, can all gather information to human-computer interaction end 30, the personnel of being convenient for patrolling and examining cooperate multiple information to judge.
In some examples, as described above, the power grid inspection device 10 further includes a shock-absorbing device 12 provided between the aircraft body 11 and the pan/tilt head 13. Because a large amount of information need be gathered, a plurality of collection equipment need be set up at cloud platform 13, at the in-process that equipment 10 was patrolled and examined to the electric wire netting, probably take place to rock, and then influence the stable flight of equipment 10 is patrolled and examined to the electric wire netting and influence the information that collection equipment gathered, can improve the stability of equipment 10 and cloud platform 13 are patrolled and examined to the electric wire netting through damping device 12 from this.
Fig. 6 is a schematic structural view showing a damper device 12 according to an example of the present disclosure. Fig. 7 is an enlarged schematic view showing the structure of the region a in the damper device 12 according to the example of fig. 6.
In some examples, referring to fig. 6, the shock-absorbing device 12 may include a mount portion 121 connected to the aircraft body 11 and a shock-absorbing unit 120 mounted to the mount portion 121.
In some examples, referring to fig. 6, the shock absorbing device 12 may include a plurality of shock absorbing units 120. For example, the shock absorbing device 12 may include 2, 3, 4, 5, 6, 7, 8, 8230, and the shock absorbing unit 120.
In some examples, a plurality of damping devices 12 are distributed in a predetermined manner between the head 13 and the aircraft body 11. In this case, the deployment of the shock absorbing device 12 can be performed according to the weight of each component of the power grid inspection apparatus 10, whereby the shock absorbing effect can be made more excellent while facilitating the manipulation of the flight of the aircraft body 11. For example, a plurality of damping devices 12 may be uniformly distributed between the pan/tilt head 13 and the aircraft body 11, thereby enabling the damping effect at each position between the pan/tilt head 13 and the aircraft body 11 to be uniform to achieve a better damping effect. For another example, the plurality of shock absorbing devices 12 may be distributed so that a perpendicular line on which the center of gravity of the entire pan/tilt head 13 is located coincides with a perpendicular line on which the center of gravity of the aircraft body 11 is located, thereby making it possible to balance the weight of the aircraft body 11 for controlling the flight.
In some examples, the shock absorbing units 120 may be formed at the mounting part 121 in an array manner. In this case, the force applied to the plurality of shock absorbing units 120 can be made uniform, and the vibration at each position can be absorbed.
In some examples, referring to fig. 6, the mounting portion 121 may be flat, and in some examples, the circumference of the mounting portion 121 may extend toward the pan/tilt head 13 and form a groove for accommodating the plurality of damping units 120. In other words, a plurality of shock absorbing units 120 may be disposed in the groove.
In some examples, referring to fig. 7, the damping unit 120 includes a damping cover 122 connected to the pan/tilt head 13, a pressure plate 125 disposed inside the damping cover 122, a pressure rod 123 connecting the mounting portion 121 and the pressure plate 125, and an elastic member 126 and a telescopic damper 127 disposed between the pressure plate 125 and the damping cover 122. In this case, the situation that the aircraft body 11 shakes due to wind or misoperation and the work of the image detection device is affected can be reduced in the inspection process through the cradle head 13 and the damping device 12, so that the inspection accuracy can be improved. Further, since the stored energy is gradually released after the elastic element 126 absorbs the vibration generated by the cradle head 13 or the aircraft body 11, and then the vibration is generated, the elastic element 126 and the telescopic shock absorber 127 can not effectively absorb the vibration of the cradle head 13, and the telescopic shock absorber can also suppress the vibration generated after the elastic element 126 absorbs the vibration, so that the stability of the aircraft body 11 and the cradle head 13 is improved.
In some examples, the elastic element 126 may be a spring, a dampening rubber, or the like. In some examples, telescoping shock absorber 127 may be a buffer, such as a memory metal buffer, a spring buffer, a magnetic buffer, a hydraulic buffer, or a pneumatic buffer, among others.
In some examples, the shock absorbing unit 120 includes a plurality of elastic members 126 and at least one telescopic shock absorber, and the plurality of elastic members 126 are mounted around the telescopic shock absorber in a manner surrounding the telescopic shock absorber. In this case, the shake generated by the aircraft main body 11 during inspection can be absorbed by the plurality of elastic elements 126 and the at least one telescopic shock absorber, for example, the elastic elements 126 absorb shock, and rebound during shock absorption of the elastic elements 126 (that is, the elastic elements 126 gradually release energy after energy storage) is suppressed by the telescopic shock absorbers 127, so that the stability of the collecting device disposed on the pan/tilt head 13 can be improved.
In some examples, referring to fig. 7, the damping unit 120 further includes a stopper rod 124 disposed between the pressure plate 125 and the damping cover 122, and the stopper rod 124 and the elastic member 126 are disposed on both sides of the pressure plate 125, respectively. In some examples, the stop bar 124 may be used to stop the resilient elements 126, and may be matched in number to the resilient elements 126. In this case, the elastic member 126 can be secured at the position of the stopper rod 124, and the situation that the swing amplitude of the elastic member 126 is too large can be reduced during the shock absorption, thereby improving the shock absorption and shock absorption effects.
In some examples, referring to fig. 7, the damping cap 122 may have a through hole through which the pressing rod 123 may penetrate and connect the pressing plate 125, and in some examples, the cross-sectional area of the through hole is not smaller than the cross-sectional area of the pressing rod 123. In this case, the pressing rod 123 can be allowed to slightly vibrate in the through hole, so that a relatively flexible connection is formed between the pressing rod 123 and the vibration reduction cover 122, and the vibration reduction and absorption effects are improved.
In some examples, the damping unit 120 further includes a sensing unit configured to measure a force condition of the damping unit 120 and feed back to the control platform 20. Specifically, the sensing unit may be disposed at one side of the elastic element 126 or the telescopic shock absorber 127, and measure the force applied to the elastic element 126 or the telescopic shock absorber 127 and form force sensing information, meanwhile, the sensing unit may transmit the force sensing information to the control platform 20 through the wireless communication module 134, and the control platform 20 may adaptively adjust the movement mode of the power grid inspection device 10 based on the force sensing information. For example, when the elastic member 126 or the telescopic shock absorber 127 is suddenly responded to increase in force, it may be considered that the power grid inspection apparatus 10 is subjected to strong wind or a collision, and the moving speed of the power grid inspection apparatus 10 may be reduced or the power grid inspection apparatus 10 may be temporarily dropped. In this case, the working environment of the power grid inspection device can be determined based on the stress condition of the damping unit 120, and then a targeted control strategy can be adopted based on different working environments.
Fig. 8 is a schematic view illustrating the installation of the guard 135 according to an example of the present disclosure. Fig. 9 is a schematic diagram showing a specific structure of the guard device 135 according to an example of the present disclosure.
In some examples, referring to fig. 8, the pan/tilt head 13 may include a guard 135 provided to the photographing device 131, the guard 135 including a cleaning part 152 and a transparent guard part 151, the guard part 151 provided to the photographing device 131 and including a concave surface and a convex surface opposite to the concave surface, the concave surface forming an inner cavity 510 for accommodating at least a portion of the photographing device 131, the cleaning part 152 provided to the photographing device 131 through a link mechanism 153, the cleaning part 152 including a cleaning member 526 and a motor 522 for driving the cleaning member 526 to move in contact with the convex surface. In this case, by providing the light-transmitting protective portion 151 and housing at least a part of the image detection device (for example, a key part such as the lens 141) in the inner cavity 510 formed by the concave surface of the protective portion 151 for protection, damage of dust and the like to at least a part of the image detection device (for example, a key part such as the lens 141) can be reduced, by providing the cleaning portion 152 including the cleaning member 526 and the motor 522, the protective portion 151 can be cleaned in time instead of the image detection device, damage of dust and the like to at least a part of the image detection device (for example, a key part such as the lens 141) due to direct touch can be reduced, and influence of attachment such as water mist, dust and the like on operation of the image detection device in the power grid equipment 10 can be reduced by cleaning in time. Therefore, the power grid inspection equipment 10 and the protection device 135 thereof can be provided, and the image detection device can be effectively and durably protected when the power grid inspection is carried out.
In some examples, the inner cavity 510 may be used to house the lens 141 of the camera 131. The lens 141 of the photographing device 131 can be thereby protected.
In some examples, referring to fig. 9, the cleaning part 152 further includes a housing 520 provided with a motor 522, a screw 525 rotated by the motor 522, and an adjusting block 523 threadedly coupled to the screw 525 in a movable manner with respect to the screw 525, the adjusting block 523 being interlocked with the cleaning member 526. In this case, by providing the housing 520, structural support can be provided for the motor 522, and by the screw 525 rotating together with the motor 522, the adjusting block 523 threaded to the screw 525 and capable of moving relatively, and the cleaning member 526 linked to the adjusting block 523 and contacting with the convex surface of the protection part 151, when the protection part 151 is attached by water mist, sand dust and the like, the screw 525, the adjusting block 523, and the cleaning member 526 can be driven by the starting motor 522 to clean the protection part 151, so that the influence of the attachment such as the water mist, sand dust and the like on the operation of the image detection device in the power grid inspection device 10 can be reduced.
In some examples, the housing 520 has at least one groove 521 with a length corresponding to the screw 525, and at least a portion of the adjustment block 523 is slidably snapped into the groove 521. In this case, when the adjusting block 523 moves relatively on the screw 525, the shaking of the adjusting block 523 can be reduced by the recess 521, whereby the cleaning member 526 linked with the adjusting block 523 can be kept stable when the convex surface of the shielding part 151 moves.
In some examples, the cleaning member 526 has a rigid end 5261 and a flexible end 5262 for contacting the convex surface, the rigid end 5261 of the cleaning member 526 being connected to the adjustment block 523 by at least one push rod 524. In this case, the convex surface of the shielding part 151 can be cleaned by the flexible end 5262 of the cleaning member 526, and the damage of the shielding part 151 caused by the rigid member contacting the convex surface of the shielding part 151, which affects the operation of the image detecting apparatus, can be reduced, and the flexible end 5262 of the cleaning member 526 can be driven by the push rod 524 and the adjusting block 523 to clean the convex surface of the shielding part 151 by the rigid end 5261 of the cleaning member 526.
In some examples, the flexible end 5262 of the cleaning members 526 can be constructed of one of cotton, hemp, silk, wool, or synthetic fibers. In this case, the flexible end 5262 of the cleaning member 526 can have flexibility, and the convex surface of the protective part 151 can be cleaned by one of cotton, hemp, silk, wool or synthetic fibers, so that the situation that the rigid component contacts the convex surface of the protective part 151 to damage the protective part 151 and influence the operation of the image detection apparatus can be reduced.
In some examples, the human-computer interaction terminal 30 may include at least one of a smartphone, a tablet computer, a laptop computer, or a dedicated smart device. Under the condition, the patrol personnel can carry the human-computer interaction terminal 30, and then the patrol personnel can patrol at any time.
In some examples, the human-computer interaction terminal 30 may have software (e.g., app) built therein, and the patrol personnel may view the image information, the thermal image information, and the location information through the software.
In some examples, the human-computer interaction terminal 30 may include a display screen that presents imagery information, thermal image information, and location information. In this case, the inspection personnel can determine whether a failure has occurred based on the image information, the thermal image information, and the position information at the same time.
In some examples, the polling person may mark the suspicious location in the human-computer interaction terminal 30, in which case the polling person can screen the suspicious location in the power distribution network and determine whether a fault exists for the suspicious location.
In some examples, the human-computer interaction end 30 may further have a function of cooperating with the protection device 135, and specifically, in some examples, referring to fig. 2, the cradle head may further be provided with a motor controller 136, the motor controller 136 may be connected to the wireless communication module and receive a signal from the human-computer interaction end 30, and the inspection personnel may perform human-computer interaction at the human-computer interaction end 30 and control the start and stop of the motor 522 of the position cradle head 13 through the motor controller 136. In this case, if the inspector considers that the image information is blurred or blocked, the man-machine interface 30 can control the motor 522 to clean the lens 141 of the camera 131.
While the present disclosure has been described in detail in connection with the drawings and examples, it should be understood that the above description is not intended to limit the disclosure in any way. Variations and modifications as may be required by those skilled in the art may be made without departing from the true spirit and scope of the disclosure, and these variations and modifications are intended to be within the scope of the disclosure.
Claims (10)
1. The utility model provides an unmanned system of patrolling and examining of distribution network trouble which characterized in that includes: the power grid inspection system comprises power grid inspection equipment for inspecting a power distribution network, a control platform for controlling the power grid inspection equipment to move, and a human-computer interaction end for receiving data from the power grid inspection equipment,
the power grid inspection equipment comprises an aircraft main body, a cradle head arranged on the aircraft main body and a damping device arranged between the cradle head and the aircraft main body,
the cradle head is provided with a shooting device, a thermal imaging device, a positioning device and a wireless communication module,
the photographing device is configured to photograph the power distribution network to acquire image information and identify a target object in the image information when the power distribution network inspection equipment inspects the power distribution network,
the thermal imaging device is configured to perform thermal imaging detection on the power distribution network to acquire thermal image information when the power distribution network inspection equipment inspects the power distribution network,
the positioning device is configured to acquire position information of the power grid inspection equipment,
the wireless communication module is configured to send the image information, the thermal image information and the position information to the human-computer interaction terminal,
damping device include with the installation department that the aircraft main part is connected with install in a plurality of shock attenuation units of installation department, the shock attenuation unit include with damping cover that the cloud platform is connected, set up in clamp plate, connection in the damping cover the installation department with the depression bar of clamp plate and set up elastic element and telescopic bumper shock absorber between clamp plate and damping cover.
2. The unmanned inspection system for faults of power distribution networks of claim 1,
the shooting device is provided with a shooting module, an image processing module, an intelligent identification module, a data storage module and a data transmission module,
the photographing module is configured to acquire the image information,
the image processing module is configured to denoise the image information,
the intelligent identification module is configured to identify a target object in the image information,
the data storage module is configured to store the image information and send the image information to the wireless communication module through the data transmission module.
3. The unmanned inspection system for faults of power distribution networks of claim 2, wherein,
the target comprises a line, a tower pole or an insulator in the power distribution network.
4. The unmanned inspection system for faults of power distribution networks of claim 1,
the human-computer interaction end comprises at least one of a smart phone, a tablet computer, a notebook computer or special intelligent equipment, and the human-computer interaction end comprises a display screen for displaying the image information, the thermal image information and the position information.
5. The unmanned inspection system for faults of power distribution networks of claim 1,
the holder comprises a protective device arranged on the shooting device, the protective device comprises a cleaning part and a transparent protective part,
the protective part is arranged on the shooting device and comprises a concave surface and a convex surface opposite to the concave surface, the concave surface forms an inner cavity for accommodating at least one part of the shooting device,
the cleaning part is arranged on the shooting device through a link mechanism and comprises a cleaning piece and a motor used for driving the cleaning piece to move in a mode of contacting the convex surface.
6. The unmanned inspection system for faults of power distribution networks of claim 1, wherein,
the damping unit further comprises a limiting rod arranged between the pressing plate and the damping cover, and the limiting rod and the elastic element are respectively arranged on two sides of the pressing plate.
7. The unmanned inspection system for faults of power distribution networks of claim 1, wherein,
the damping cover is provided with a through hole with the cross section area not smaller than that of the compression rod, and the compression rod penetrates through the through hole and is connected with the compression plate.
8. The unmanned inspection system for faults of power distribution networks of claim 1, wherein,
the shock absorption unit comprises a plurality of elastic elements and at least one telescopic shock absorber, and the elastic elements are arranged around the telescopic shock absorber in a mode of surrounding the telescopic shock absorber.
9. The unmanned inspection system for faults of power distribution networks of claim 1, wherein,
the shock-absorbing units are formed in an array on the mounting portion.
10. The unmanned inspection system for faults of power distribution networks of claim 1, wherein,
the shock absorption unit further comprises a sensing unit, and the sensing unit is configured to measure the stress condition of the shock absorption unit and feed back the stress condition to the control platform.
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|---|---|---|---|
| CN202211697981.0A CN115840458A (en) | 2022-12-28 | 2022-12-28 | Unmanned system of patrolling and examining of distribution network trouble |
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| CN202211697981.0A CN115840458A (en) | 2022-12-28 | 2022-12-28 | Unmanned system of patrolling and examining of distribution network trouble |
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| CN209608198U (en) * | 2019-04-25 | 2019-11-08 | 沈阳仕得蓝科技有限公司 | A kind of wireless automatic control inspection device |
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| CN217146378U (en) * | 2022-05-18 | 2022-08-09 | 郑州鑫雅图安科技有限公司 | Unmanned aerial vehicle disaster site probing device |
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| US20200223558A1 (en) * | 2017-11-13 | 2020-07-16 | SZ DJI Technology Co., Ltd. | Motion sensor assembly and unmanned aerial vehicle |
| CN111634429A (en) * | 2019-03-01 | 2020-09-08 | 江苏奥雷光电有限公司 | Unmanned aerial vehicle cloud platform with damper |
| CN209608198U (en) * | 2019-04-25 | 2019-11-08 | 沈阳仕得蓝科技有限公司 | A kind of wireless automatic control inspection device |
| CN211139691U (en) * | 2019-10-24 | 2020-07-31 | 广州欧达信息科技有限公司 | Unmanned aerial vehicle for electric power inspection |
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