CN116486508B - Unmanned aerial vehicle patrols and examines route planning device - Google Patents
Unmanned aerial vehicle patrols and examines route planning device Download PDFInfo
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- CN116486508B CN116486508B CN202310753750.5A CN202310753750A CN116486508B CN 116486508 B CN116486508 B CN 116486508B CN 202310753750 A CN202310753750 A CN 202310753750A CN 116486508 B CN116486508 B CN 116486508B
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- 238000007689 inspection Methods 0.000 claims abstract description 117
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000008054 signal transmission Effects 0.000 claims description 22
- 238000000605 extraction Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 10
- 230000007306 turnover Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 12
- 230000002159 abnormal effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 239000012634 fragment Substances 0.000 description 8
- 238000012790 confirmation Methods 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000001795 light effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000012625 in-situ measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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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
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/04—Supports for telephone transmitters or receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
- B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to the field of unmanned aerial vehicle path planning devices, in particular to an unmanned aerial vehicle inspection path planning device, which comprises a remote controller, wherein the remote controller comprises a body, control handles and control buttons are arranged on two sides of the top of the body, an opening I is formed in the middle of the top of the body, an adjusting frame is arranged in the opening I, the top of the adjusting frame is connected with a smart phone through a mobile phone fastening frame, the remote controller is provided with an inspection unmanned aerial vehicle through a path planning module, driving frames are arranged on two sides of the top of the adjusting frame, the adjusting frame comprises a bottom plate, the bottom plate is arranged in the middle of the inner side of the opening I, and guide frames are arranged on two sides of the bottom plate.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle path planning devices, in particular to an unmanned aerial vehicle inspection path planning device.
Background
The electric power is an essential element in the life of people, regional power stations are required to be arranged in each region in order to ensure the normal use of the electric power, the remote region at the transformer substation is common, the geographical adjustment is bad, the inspection of equipment lines becomes an important work of the transformer substation in each period of time even every day, the purpose is to find out equipment defects and threat the safety of the lines in time by observing, checking and measuring all parts of the transmission lines, the line inspection at present is mostly used for inspection unmanned aerial vehicles, the electromagnetic wave regulation and control and radio feedback operation effects are formed by the electric unmanned aerial vehicles and a remote controller, the navigation track and visual picture of the unmanned aerial vehicles are ensured to be intuitively transmitted back to the ground, the efficient operation effect of high-order satellite adaptive navigation is improved, in the prior art, the electric unmanned aerial vehicle inspection path planning needs to be plugged into a mobile phone to conduct navigation remote signal transmission, but when the mobile phone is fixed, a clamping block for clamping of a common mobile phone clamping frame is used for clamping, the clamping block generally clamps and rubs the edge of the mobile phone, the pressing of the clamping block easily causes the edge deformation of the mobile phone and easily influences the use of the mobile phone, meanwhile, when the electric unmanned aerial vehicle inspection path planning is used outdoors, because the mobile phone is generally fixed on a controller to be in a lying state, people often need to incline the mobile phone and the controller for use in order to avoid direct irradiation of sunlight, the operation is difficult, and meanwhile, when the unmanned aerial vehicle is subjected to inspection path planning, the positioning work of equipment to be inspected is difficult, in-situ measurement is needed, the workload is increased, and the electric unmanned aerial vehicle inspection path planning is unfavorable for practical use.
Disclosure of Invention
The invention aims to solve the defects in the background technology and provides an unmanned aerial vehicle inspection path planning device.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides an unmanned aerial vehicle patrols and examines route planning device, includes remote control ware, remote control ware includes the ware body, ware body top both sides all are provided with control handle and control button, opening one has been seted up at ware body top middle part, opening one inside is provided with the alignment jig, the alignment jig top is connected with the smart mobile phone through the cell-phone fastening frame, remote control ware is connected with the unmanned aerial vehicle of patrolling and examining through the route planning module, alignment jig top both sides all are provided with the drive frame.
Preferably, the regulating frame comprises a bottom plate, the bottom plate sets up in an inboard middle part of opening, the bottom plate both sides all are provided with the leading truck, the leading truck all sets up in an inside both sides of opening, the guide way has all been seted up at the leading truck middle part, one side that the guide way is inboard kept away from mutually all is provided with interior tooth's socket, the inboard all meshing of internal tooth groove is connected with drive gear, drive gear all fixed connection is in transmission shaft one end, the transmission shaft all runs through and rotates and be connected with mount one, the first sliding connection of mount is inboard in opening two, transmission shaft all with motor drive end fixed connection, the motor is all installed in opening two inboardly through the driving frame, opening two all is seted up in bottom plate both ends middle part, the equal fixedly connected with fixed column one in bottom plate both ends front and back portion, the equal fixedly connected with spacing wheel of periphery one end, spacing wheel all rotates to be connected with inside the spacing groove, the spacing groove all sets up at the inboard middle part of guide way.
Preferably, the inspection unmanned aerial vehicle comprises a body, the anterior fixedly connected with installation piece of fuselage bottom, a plurality of lights of installation piece bottom fixedly connected with, the equal fixedly connected with crane in fuselage bottom both sides, the equal fixedly connected with in fuselage periphery middle part is a plurality of electric putter, the equal fixedly connected with solid fixed ring of one end that the fuselage was kept away from to electric putter, gu fixed ring inboard all is provided with power paddle, the equal fixedly connected with of power paddle is terminal at electric putter.
Preferably, the mobile phone fastening frame comprises a fixing column II, the fixing column II is fixedly connected with the middle part of the top end of the bottom plate, a fixing sucker is fixedly connected with the top of the fixing column II, a rotating sleeve is connected with the outer turnover of the fixing column, a plurality of rotating grooves are formed in the periphery of the rotating sleeve, rotating rings are connected inside the rotating grooves in a rotating mode, fixing blocks I are fixedly connected to the two sides of the periphery of the rotating sleeve, fixing bent rods II are connected to the two sides of the periphery of the rotating sleeve through fixing blocks, fixing bent rods I are fixedly connected with fixing seats through fixing blocks, fixing seats are fixedly connected to the tops of the two ends of the fixing bent rods I, fixing shafts are fixedly connected to the inner sides of the fixing seats, guide wheels are fixedly connected to the periphery of the fixing shafts in a rotating mode, and are arranged on the front side and the rear side of the smart phone in a rotating mode, and the guide wheels are fixedly connected with the smart phone in a rotating mode.
Preferably, the front and back sides all are provided with the guide bar between fixed bent rod one and the fixed bent rod two, zhou Jun sliding connection has the fixed strip outside the guide bar both ends, the equal fixed connection of fixed strip is in fixed bent rod one and fixed bent rod two one ends, the guide bar front and back side all is provided with the elastic piece, elastic piece both ends all with fixed strip fixed connection, the equal fixedly connected with in one side middle part that the elastic piece is close to mutually is interior shell fragment, interior shell fragment all sets up in guide bar front and back side.
Preferably, the drive frame comprises a shell, the equal fixedly connected with of casing is in bottom plate top both sides, the equal fixedly connected with gag lever post in the top both sides in casing, gag lever post bottom all runs through fixed block two and with two sliding connection of fixed block, two equal fixed connection of fixed block are at the motor both ends, zhou Jun cover is equipped with the pressure spring outside the gag lever post, the pressure spring all sets up at two tops of fixed block, the equal fixedly connected with shell fragment frame in motor top, the shell fragment frame top is all through fixed disk fixed connection top in the casing.
Preferably, the path planning module comprises a shooting recording unit and a processing chip, the shooting recording unit is connected with a fixed point identification module, the fixed point identification module is connected with a feature comparison module, the feature comparison module is connected with a pre-alarm module, the shooting recording unit, the fixed point identification module, the feature comparison module and the pre-alarm module are electrically connected with the processing chip, the shooting recording unit comprises a real-time shooting unit, a data transmission unit, a feature extraction unit and a synchronous storage unit, the real-time shooting unit is connected with the data transmission unit, the data transmission unit is connected with the feature extraction unit, and the feature extraction unit is connected with the synchronous storage unit.
Preferably, the feature comparison module comprises a feature receiving unit, a fixed point determining unit, a secondary confirming unit and a data recording unit, wherein the feature receiving unit is connected with the feature comparison unit, the feature comparison unit is connected with the secondary confirming unit, and the secondary confirming unit is connected with the data recording unit.
Preferably, the fixed point identification module comprises an area identification unit, a fixed point determination unit, a signal transmitting unit and a itinerant checking unit, wherein the area identification unit is connected with the fixed point determination unit, the fixed point determination unit is connected with the signal transmitting unit, and the signal transmitting unit is connected with the itinerant checking unit.
Preferably, the pre-alarm module comprises a data receiving unit, an alarm prompting unit, a signal transmission unit and a popup window prompting unit, wherein the data receiving unit is connected with the alarm prompting unit, the alarm prompting unit is connected with the signal transmission unit, and the signal transmission unit is connected with the popup window prompting unit.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, when the inspection unmanned aerial vehicle is subjected to inspection path planning, people can control the inspection unmanned aerial vehicle through the remote controller and the path planning module, when the inspection unmanned aerial vehicle is controlled, people can install the smart phone on the remote controller, the smart phone can be fixed through the mobile phone fastening frame, so that the inspection unmanned aerial vehicle can be controlled to inspect equipment, the selection record of the inspection path is realized through manual operation, the inspection path is determined, the follow-up programming control is convenient, the automatic inspection work is realized, meanwhile, when the inspection is performed, the light supplementing can be carried out on a place with dim light, the shooting work of the real-time shooting unit can be normally carried out, and meanwhile, the electric push rod can drive the fixed ring and the power blade to shrink, so that the whole volume of the inspection unmanned aerial vehicle can be effectively reduced, the inspection work is facilitated to pass through the narrow terrain.
2. People can break open fixed bent rod one with two sides of fixed bent rod for the cell-phone fastening frame opens, afterwards between the leading wheel is blocked to the smart mobile phone, can cooperate with the smart mobile phone through fixed sucking disc, adsorb the smart mobile phone back after, rebound through elastic disc and interior shell fragment can push out the fixed strip to both sides, make fixed bent rod one and fixed bent rod two can utilize the leading wheel to fix the smart mobile phone, more steady when can making the fixed strip remove through the guide rod, can be when carrying out the centre gripping to the smart mobile phone through the leading wheel, make the clamping process of fixed bent rod one with fixed bent rod two can be more smooth, the friction when being pressed from both sides tightly by fixed clamp splice leads to the damage when avoiding the smart mobile phone to fix, simultaneously can avoid the smart mobile phone to appear rocking when pressing from both sides and lead to appearing crooked condition after pressing from both sides, be favorable to people observe unmanned aerial vehicle's real-time shooting condition through the smart mobile phone, afterwards people can control unmanned aerial vehicle to patrol inspection through control button and control handle.
3. When carrying out manual operation in the path planning, people can be through the alignment jig, realize the regulation to the angle of use of smart mobile phone, can drive the transmission shaft through the motor and rotate, can drive rather than fixed drive gear through the transmission shaft and rotate, can cooperate with the internal tooth groove, make and drive the bottom plate through leading truck and interior tooth groove as the base point and carry out overall movement, can drive the smart mobile phone and remove along the leading truck through the bottom plate, make the smart mobile phone can erect, in the removal process, can realize the direction to the bottom plate through fixed column one with spacing wheel, thereby can make the bottom plate more stable when moving, can make things convenient for people to patrol and examine unmanned aerial vehicle's real-time supervision and watch better, can effectively realize keeping away the light effect when outdoor through erecting the smart mobile phone, sunshine is directly penetrated when keeping flat to avoid the smart mobile phone, the condition that leads to people to see not clearly picture, make practical operation patrol unmanned aerial vehicle.
4. During inspection, the feature receiving unit can receive inspection feature data of the equipment to be inspected, the feature comparison unit can compare the received monitoring image data with normal feature data of the period in the synchronous storage unit, the secondary confirmation unit can repeatedly confirm the feature comparison result of the inspection feature of the equipment to be inspected, the data recording unit can record the feature comparison result of the inspection feature of the equipment to be inspected, inspection unmanned opportunities can normally continue inspection when the comparison is abnormal, the data receiving unit can receive abnormal feature data when the feature comparison finds abnormality, the alarm prompting unit sends out an alarm, the signal transmission unit and the popup window prompting unit can transmit the abnormal feature data to the intelligent mobile phone and remote end staff, and people can conveniently deal with the inspection, so that the high-efficiency inspection of the equipment to be inspected can be realized.
5. In the routing inspection planning process, the lower space area can be identified and recorded when the routing inspection unmanned aerial vehicle works through the area identification unit, positioning determination of equipment to be inspected can be realized through the fixed point determination unit, positioning recording of the equipment to be inspected can be realized, positioning data of the routing inspection unmanned aerial vehicle can be transmitted through the signal transmission unit, recording of positioning data of the routing inspection route of the routing inspection unmanned aerial vehicle can be realized through the processing chip, follow-up automatic routing inspection path programming work can be facilitated, the equipment to be inspected can be inspected through the routing inspection unit, and accurate positioning of the equipment to be inspected can be realized through area identification and fixed point confirmation of the equipment to be inspected when the manual operation is performed, so that routing inspection path planning work can be facilitated.
Drawings
FIG. 1 is a side perspective view of a remote controller of an unmanned aerial vehicle inspection path planning apparatus of the present invention;
fig. 2 is a schematic structural diagram of a remote controller of the unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 3 is a schematic structural diagram of an inspection unmanned aerial vehicle of the unmanned aerial vehicle inspection path planning device;
fig. 4 is a schematic diagram of a partial structure of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 5 is a schematic diagram of a partial structure of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 6 is a schematic diagram of a partial structure of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 7 is a schematic diagram of a partial structure of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 8 is a schematic diagram of a partial structure of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 9 is a schematic diagram of a path planning module of the unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 10 is a schematic structural diagram of a camera recording module of the unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 11 is a schematic structural diagram of a fixed point identification module of the unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 12 is a schematic structural diagram of a feature comparison module of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 13 is a schematic diagram of a pre-alarm module structure of an unmanned aerial vehicle inspection path planning device according to the present invention;
fig. 14 is a flow chart of an inspection path of the unmanned aerial vehicle inspection path planning device.
1. A remote controller; 101. a body; 102. a control button; 103. an opening I; 104. a smart phone; 105. a control handle; 2. an adjusting frame; 201. a guide frame; 202. a drive gear; 203. an inner spline; 204. a bottom plate; 205. an opening II; 206. a motor; 207. a first fixing frame; 208. fixing the first column; 209. a limiting wheel; 210. a limit groove; 211. a transmission shaft; 212. a guide groove; 3. inspection unmanned plane; 301. a mounting block; 302. a power blade; 303. a lighting lamp; 304. a lifting frame; 305. a fixing ring; 306. an electric push rod; 307. a body; 4. a mobile phone fastening frame; 401. an elastic sheet; 402. a fixing seat; 403. fixing a sucker; 404. fixing the first bending rod; 405. a guide wheel; 406. fixing a second bending rod; 407. a first fixed block; 408. an inner spring plate; 409. a guide rod; 410. a fixing strip; 411. a fixed shaft; 412. fixing the second column; 413. a rotating sleeve; 414. a rotary groove; 415. a swivel; 5. a drive rack; 501. a housing; 502. a spring plate frame; 503. a pressure spring; 504. a fixed plate; 505. a limit rod; 506. a second fixed block; 6. a path planning module; 61. an image pickup recording unit; 611. a real-time image pickup unit; 612. a data transmission unit; 613. a feature extraction unit; 614. a synchronous storage unit; 62. the characteristic comparison module; 621. a feature receiving unit; 622. a feature comparison unit; 623. a secondary confirmation unit; 624. a data recording unit; 63. a fixed point identification module; 631. a region identification unit; 632. a fixed point determination unit; 633. a signal transmitting unit; 634. a tour inspection unit; 64. a pre-alarm module; 641. a data receiving unit; 642. an alarm prompting unit; 643. a signal transmission unit; 644. a popup window prompting unit; 65. and processing the chip.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
The utility model provides an unmanned aerial vehicle route planning device that patrols and examines, including remote controller 1, remote controller 1 includes ware body 101, ware body 101 top both sides all are provided with control handle 105 and control button 102, open one 103 has been seted up at ware body 101 top middle part, open one 103 inside is provided with alignment jig 2, alignment jig 2 top is connected with smart mobile phone 104 through cell-phone fastening jig 4, remote controller 1 is connected with the unmanned aerial vehicle 3 that patrols and examines through route planning module 6, alignment jig 2 top both sides all are provided with drive frame 5, when patrolling and examining unmanned aerial vehicle 3 carries out the route planning, people can control the unmanned aerial vehicle 3 through remote controller 1 and route planning module 6 earlier, when controlling the unmanned aerial vehicle 3 that patrols and examines, people can install smart mobile phone 104 on remote controller 1, can realize the fixed to smart mobile phone 104 through cell-phone fastening jig 4, afterwards people can control unmanned aerial vehicle 3 through control button 102 and control handle 105, thereby can control and patrol and examine unmanned aerial vehicle 3 and examine equipment, realize the automatic route that realizes the manual operation of patrolling and examining, thereby realize the automatic route that the realization is followed by the realization is programmed and is patrolled and examined.
The adjusting frame 2 comprises a bottom plate 204, the bottom plate 204 is arranged in the middle of the inner side of the opening one 103, guide frames 201 are arranged on two sides of the bottom plate 204, guide grooves 212 are arranged in the middle of the guide frames 201, inner tooth grooves 203 are arranged on one side of the inner side of the guide grooves 212, which is far away from each other, the inner sides of the inner tooth grooves 203 are respectively connected with a driving gear 202 in a meshed manner, the driving gears 202 are respectively fixedly connected with one end of a driving shaft 211, the driving shafts 211 are respectively penetrated and rotationally connected with a fixing frame one 207, the fixing frame one 207 is respectively slidingly connected with the inner side of the opening two 205, the driving shafts 211 are respectively fixedly connected with the driving end of a motor 206, the motor 206 is respectively arranged on the inner side of the opening two 205 through driving frames 5, the two 205 are respectively arranged in the middle of two ends of the bottom plate 204, fixing columns one 208 are respectively fixedly connected with limiting wheels 209 respectively at the front and rear parts of the two ends of the bottom plate 204, limiting wheels 209 are all rotationally connected inside limiting grooves 210, limiting grooves 210 are all arranged in the middle of the inner side of a guide groove 212, when primary manual operation is carried out, people can adjust the use angle of a smart phone 104 through an adjusting frame 2, a motor 206 can drive a transmission shaft 211 to rotate, the transmission shaft 211 can drive a driving gear 202 fixed by the transmission shaft 211 to rotate, the driving gear 202 can be matched with an internal tooth groove 203, the guide frame 201 and the internal tooth groove 203 serve as base points to drive a bottom plate 204 to integrally move, the bottom plate 204 can drive the smart phone 104 to move along the guide frame 201, the smart phone 104 can be erected, in the moving process, the guide to the bottom plate 204 can be realized through a fixing column 208 and the limiting wheels 209, the bottom plate 204 can be more stable during moving, through adjusting the actual angle of smart mobile phone 104, can make things convenient for people to patrol and examine unmanned aerial vehicle 3's real time monitoring and watch better, through erecting smart mobile phone 104 simultaneously can effectively realize the direct light effect of avoiding when the open air, sunshine is directly penetrated when avoiding smart mobile phone 104 to keep flat, leads to people to see the condition of unclear picture for can be more practical when actual operation patrol and examine unmanned aerial vehicle 3.
The unmanned aerial vehicle 3 patrols and examines including fuselage 307, fuselage 307 bottom front portion fixedly connected with installation piece 301, installation piece 301 bottom fixedly connected with a plurality of lights 303, fuselage 307 bottom both sides equal fixedly connected with crane 304, the equal fixedly connected with in fuselage 307 periphery middle part a plurality of electric putter 306, the equal fixedly connected with solid fixed ring 305 of one end that the fuselage 307 was kept away from to electric putter 306, gu fixed ring 305 inboard all is provided with power paddle 302, power paddle 302 equal fixedly connected with is terminal at electric putter 306, when patrolling and examining, can carry out the light filling through the light 303 to the dim place of light for the camera work of real-time camera unit 611 can normally go on, can drive solid fixed ring 305 and power paddle 302 through electric putter 306 simultaneously and shrink, thereby can effectively reduce the whole narrow and small volume of unmanned aerial vehicle 3 patrolling and examining, be favorable to the work of patrolling and examining through the topography in space.
The mobile phone fastening frame 4 comprises a second fixed column 412, the second fixed column 412 is fixedly connected to the middle of the top end of the bottom plate 204, a fixed sucker 403 is fixedly connected to the top end of the second fixed column 412, a rotating sleeve 413 is connected to the outer periphery of the second fixed column 412 in a rotating mode, a plurality of rotating grooves 414 are formed in the outer periphery of the rotating sleeve 413, rotating rings 415 are connected to the inner side of the rotating grooves 414 in a rotating mode, fixing blocks I407 are fixedly connected to two sides of the outer periphery of the rotating sleeve 413, fixing bent rods II 406 are connected to two sides of the fixing sleeve 413 through the fixing blocks I407, fixing bases 402 are fixedly connected to the two sides of the outer periphery of the rotating sleeve 415 through the fixing blocks I407, fixing bases 402 are fixedly connected to fixing shafts 411, guiding wheels 405 are connected to the outer periphery of the fixing shafts 411 in a rotating mode, guiding wheels 405 are arranged on the front and back sides of the smart phone 104, people can break off the fixing bent rods I404 and the fixing bent rods II 406 to two sides of the fixing frames 407, after the mobile phone fastening frame 4 is opened, the smart phone 403 can be elastically fixed to the two sides of the fixing bases 408 through the fixing bent rods I404 and the fixing bent rods II 406, and the elastic piece 408 can be elastically fixed to the elastic piece 408 can be fixed to the back sides of the fixing device by means of the elastic piece 401.
The fixed bent rod one 404 and the fixed bent rod two 406 between the front and back sides all are provided with guide bar 409, zhou Jun sliding connection has fixed strip 410 outside the guide bar 409 both ends, fixed strip 410 is all fixed connection in fixed bent rod one 404 and fixed bent rod two 406 one end, guide bar 409 front and back sides all are provided with elastic piece 401, elastic piece 401 both ends all with fixed strip 410 fixed connection, elastic piece 401 is the equal fixedly connected with internal spring piece 408 in one side middle part that is close to, internal spring piece 408 all sets up in guide bar 409 front and back side, can make fixed strip 410 remove more steady when centre gripping smart mobile phone 104 through guide bar 409, can be in order to smooth more by the tight process of fixed bent rod one 404 and fixed bent rod two 406, the friction when avoiding smart mobile phone 104 to fix by fixed clamp splice, simultaneously through fixed sucking disc 403 can avoid smart mobile phone 104 to appear rocking and lead to the crooked condition to appear pressing from both sides after smart mobile phone 104, be favorable to people observe the real-time condition of inspection machine 3 through smart mobile phone 104.
The drive frame 5 includes casing 501, casing 501 all fixed connection is in bottom plate 204 top both sides, the equal fixedly connected with gag lever post 505 in the top both sides in casing 501, gag lever post 505 bottom all runs through fixed block two 506 and with fixed block two 506 sliding connection, fixed block two 506 all fixed connection is at motor 206 both ends, the external Zhou Jun cover of gag lever post 505 is equipped with pressure spring 503, pressure spring 503 all sets up at fixed block two 506 tops, motor 206 top all fixedly connected with shell fragment frame 502, shell fragment frame 502 top all passes through fixed disk 504 fixed connection at the top in casing 501, simultaneously can carry out the outer top to motor 206 through shell fragment frame 502 and pressure spring 503, make the drive gear 202 that links directly with it constantly keep with internal tooth groove 203 and be connected, be favorable to in-service use, through fixed block two 506 and fixed block 206's fixed and spacing, simultaneously through the relative slip of mount one 207 and opening two 205, can make motor 206 keep stable with drive gear 202, make the transmission shaft 211 that can be more steady in the during operation, be favorable to the removal work of bottom plate 204.
The path planning module 6 comprises a camera recording unit 61 and a processing chip 65, the camera recording unit 61 is connected with a fixed point identification module 63, the fixed point identification module 63 is connected with a feature comparison module 62, the feature comparison module 62 is connected with a pre-alarm module 64, the camera recording unit 61, the fixed point identification module 63, the feature comparison module 62 and the pre-alarm module 64 are electrically connected with the processing chip 65, the camera recording unit 61 comprises a real-time camera unit 611, a data transmission unit 612, a feature extraction unit 613 and a synchronous storage unit 614, the real-time camera unit 611 is connected with the data transmission unit 612, the data transmission unit 612 is connected with the feature extraction unit 613, the feature extraction unit 613 is connected with the synchronous storage unit 614, when the inspection unmanned aerial vehicle 3 is manually controlled to conduct inspection route planning, real-time camera monitoring and recording of the inspection path of the inspection unmanned aerial vehicle 3 can be achieved through the camera recording unit 61, the monitoring camera data can be transmitted to the intelligent mobile phone 104 in real time through the data transmission unit 612, feature extraction of equipment to be monitored inside a monitoring picture can be achieved, and whether the feature extraction unit 613 can be conveniently stored in a synchronous mode after people can inspect whether the monitoring data can be conveniently and the data is stored through the synchronous storage unit 614.
The feature comparison module 62 includes a feature receiving unit 621, a fixed point determining unit 632, a secondary confirming unit 623, and a data recording unit 624, the feature receiving unit 621 is connected with a feature comparing unit 622, the feature comparing unit 622 is connected with the secondary confirming unit 623, the secondary confirming unit 623 is connected with the data recording unit 624, during inspection, the receiving of inspection feature data of the equipment to be inspected can be received through the feature receiving unit 621, the received monitoring image data can be compared with normal forward-looking feature data inside the synchronous storage unit 614 through the feature comparing unit 622, repeated confirmation is performed through the secondary confirming unit 623, the feature comparison result of the inspection feature of the equipment to be inspected can be recorded through the data recording unit 624, and inspection unmanned aerial vehicle 3 can normally continue inspection when no abnormality is detected.
The fixed point identification module 63 includes a region identification unit 631, a fixed point determination unit 632, a signal transmission unit 633 and a tour inspection unit 634, the region identification unit 631 is connected with the fixed point determination unit 632, the fixed point determination unit 632 is connected with the signal transmission unit 633, the signal transmission unit 633 is connected with the tour inspection unit 634, in the tour inspection planning process, the region identification unit 631 can identify and record the lower space region when the tour inspection unmanned aerial vehicle 3 works, and the positioning determination of the device to be inspected can be realized through the fixed point determination unit 632, so that the positioning record of the device to be inspected can be realized, the positioning data of the tour inspection unmanned aerial vehicle 3 can be transmitted through the signal transmission unit 633, the recording of the positioning data of the tour inspection route of the tour inspection unmanned aerial vehicle 3 can be realized through the processing chip 65, thus the subsequent path programming work of automatic tour inspection can be facilitated, and the device to be inspected can be inspected through the tour inspection unit 634.
The pre-alarm module 64 comprises a data receiving unit 641, an alarm prompting unit 642, a signal transmission unit 643 and a popup window prompting unit 644, wherein the data receiving unit 641 is connected with the alarm prompting unit 642, the alarm prompting unit 642 is connected with the signal transmission unit 643, the signal transmission unit 643 is connected with the popup window prompting unit 644, when abnormal characteristic data is found through characteristic comparison, the data receiving unit 641 can receive the abnormal characteristic data, the alarm prompting unit 642 sends out an alarm, the abnormal characteristic data can be transmitted to the smart phone 104 and a remote end staff through the signal transmission unit 643 and the popup window prompting unit 644, people can conveniently carry out corresponding inspection, thereby realizing efficient inspection of equipment to be inspected, and through area identification and fixed point confirmation of the equipment to be inspected, the accurate positioning of the equipment to be inspected can be realized, thereby being capable of facilitating the planning work of an inspection path.
Working principle:
when the inspection unmanned aerial vehicle 3 is subjected to inspection path planning, people can control the inspection unmanned aerial vehicle 3 through the remote controller 1 and the path planning module 6, when the inspection unmanned aerial vehicle 3 is controlled, people can install the smart phone 104 on the remote controller 1, the smart phone 104 can be fixed through the mobile phone fastening frame 4, before, people can break the first fixed bent rod 404 and the second fixed bent rod 406 to two sides, the mobile phone fastening frame 4 is opened, the smart phone 104 is clamped between the guide wheels 405, the smart phone 104 can be matched with the smart phone 104 through the fixed sucking disc 403, after the fixed sucking disc 403 is adsorbed on the back of the smart phone 104, people can loosen the first fixed bent rod 404 and the second fixed bent rod 406, then under the elastic action of the elastic sheet 401 and the inner elastic sheet 408, the fixed bar 410 can be outwards and two sides through the rebound of the elastic sheet 401 and the inner elastic sheet 408, the fixing bending rod I404 and the fixing bending rod II 406 can fix the smart phone 104 by using the guide wheel 405, the fixing strip 410 can be more stable when moving by the guide wheel 409, the clamping process of the fixing bending rod I404 and the fixing bending rod II 406 can be more smooth when clamping the smart phone 104 by the guide wheel 405, damage caused by friction when the smart phone 104 is clamped by the fixing clamping block is avoided, meanwhile, the smart phone 104 is prevented from being inclined after being clamped due to shaking when being clamped by the fixing sucker 403, the smart phone 104 is favorable for people to observe real-time shooting conditions of the inspection unmanned aerial vehicle 3 by the smart phone 104, then people can control the inspection unmanned aerial vehicle 3 by the control button 102 and the control handle 105, the inspection unmanned aerial vehicle 3 can be controlled to inspect equipment, through manual operation, the selection record of the inspection path is realized, thereby determining the inspection path, facilitating the subsequent programming operation, realizing automatic inspection work, when the primary manual operation is performed, people can realize the adjustment of the use angle of the smart phone 104 through the adjusting frame 2, the transmission shaft 211 can be driven to rotate through the motor 206, the driving gear 202 fixed with the transmission shaft 211 can be driven to rotate, the driving gear 202 can be matched with the internal tooth groove 203, the base points of the guiding frame 201 and the internal tooth groove 203 are used for driving the bottom plate 204 to integrally move, the smart phone 104 can be driven to move along the guiding frame 201 through the bottom plate 204, the smart phone 104 can be erected, the guiding of the bottom plate 204 can be realized through the fixing column I208 and the limiting wheels 209 in the moving process, the bottom plate 204 can be more stable during the moving, through adjusting the actual angle of the smart phone 104, people can conveniently watch the inspection unmanned aerial vehicle 3 in real time, and meanwhile, the effect of avoiding direct light in the outdoor can be effectively realized by erecting the smart phone 104, the condition that the sunlight is direct in the horizontal direction of the smart phone 104, which causes people to see an unclear picture, can be more practical when the inspection unmanned aerial vehicle 3 is actually operated, and at the same time, the motor 206 is externally jacked through the elastic sheet frame 502 and the pressure spring 503, the driving gear 202 which is directly connected with the motor can be constantly kept in stable connection with the internal tooth groove 203, the actual use is facilitated, the fixing and the limiting of the motor 206 can be realized through the limiting rod 505 and the fixing block II 506, and meanwhile, the transmission shaft 211 and the driving gear 202 can be kept stable through the relative sliding of the fixing frame I207 and the opening II 205, the motor 206 is enabled to be more stable during operation, which is beneficial to the movement of the bottom plate 204, when the inspection unmanned aerial vehicle 3 is manually controlled to conduct inspection route planning, the real-time image pickup monitoring and recording of the inspection route of the inspection unmanned aerial vehicle 3 can be realized through the image pickup recording unit 61, the image pickup of the inspection unmanned aerial vehicle 3 during operation can be realized through the real-time image pickup unit 611, the monitoring image pickup data can be transmitted to the smart phone 104 in real time through the data transmission unit 612, the feature extraction of the equipment to be inspected in the monitoring image can be realized through the feature extraction unit 613 and transmitted to the feature receiving unit 621, the synchronous storage of the inspection monitoring data can be realized through the synchronous storage unit 614, whether the follow-up people have the omission or not can be conveniently checked, the lower space area can be identified and recorded during the inspection planning process through the area identification unit 631 during the operation of the inspection unmanned aerial vehicle 3, and the positioning determination of the equipment to be inspected can be realized through the fixed point determining unit 632, so that the positioning record of the equipment to be inspected can be realized, the positioning data of the unmanned inspection plane 3 can be transmitted through the signal transmitting unit 633, the recording of the positioning data of the inspection route of the unmanned inspection plane 3 can be realized through the processing chip 65, the subsequent automatic inspection route programming work can be facilitated, the equipment to be inspected can be inspected through the inspection unit 634, the inspection characteristic data of the equipment to be inspected can be received through the characteristic receiving unit 621 during the inspection, the received monitoring image data can be compared with the normal characteristic data of the forward period inside the synchronous storage unit 614 through the characteristic comparing unit 622, the repeated confirmation is performed through the secondary confirmation unit 623, the characteristic comparison result of the inspection characteristic of the equipment to be inspected can be recorded through the data recording unit 624, when the comparison is abnormal, the inspection unmanned aerial vehicle 3 can normally continue to be inspected, when the characteristic comparison finds abnormality, abnormal characteristic data can be received through the data receiving unit 641, an alarm is sent out through the alarm prompting unit 642, the abnormal characteristic data can be transmitted to the intelligent mobile phone 104 and a remote end worker through the signal transmission unit 643 and the popup window prompting unit 644, and people can conveniently handle the inspection, so that the efficient inspection of the equipment to be inspected can be realized.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an unmanned aerial vehicle patrols and examines route planning device, includes remote controller (1), its characterized in that: the remote controller (1) comprises a body (101), a control handle (105) and a control button (102) are arranged on two sides of the top of the body (101), an opening I (103) is formed in the middle of the top of the body (101), an adjusting frame (2) is arranged in the opening I (103), the top of the adjusting frame (2) is connected with a smart phone (104) through a mobile phone fastening frame (4), the remote controller (1) is connected with an inspection unmanned aerial vehicle (3) through a path planning module (6), driving frames (5) are arranged on two sides of the top of the adjusting frame (2), the adjusting frame (2) comprises a bottom plate (204), the bottom plate (204) is arranged in the middle of the inner side of the opening I (103), guide frames (201) are arranged on two sides of the opening I (103), guide grooves (212) are formed in the middle of the guide frames, inner tooth grooves (203) are formed in one sides of the inner sides of the guide frames (212) and are far away from each other, driving gears (202) are connected with driving gears (202) and are meshed with one ends of the driving gears (211), the utility model discloses a motor-driven unmanned aerial vehicle, including motor (206), including motor body (307), fixed frame (207) are all run through and rotate to be connected with, fixed frame (207) are all sliding connection inboard at opening two (205), transmission shaft (211) all with motor (206) drive end fixed connection, motor (206) all install inboard at opening two (205) through driving frame (5), opening two (205) all offer in bottom plate (204) both ends middle part, bottom plate (204) both ends front and back portion equal fixedly connected with fixed column one (208), fixed column one (208) periphery one end equal fixedly connected with spacing wheel (209), spacing wheel (209) all rotate to be connected inside spacing groove (210), spacing groove (210) all set up at guide way (212) inboard middle part, inspection unmanned aerial vehicle (3) are including fuselage (307), a plurality of lights (303) are all seted up to the bottom mounting block (301), fuselage (307) both sides equal fixedly connected with crane (304), electric motor-driven ring (307) are all fixedly connected with paddle (306) are all fixed to be provided with at one end (306) outside electric ring (305), the utility model discloses a mobile phone intelligent guiding device, including electric putter (306), power paddle (302), mobile phone fastening frame (4), fixed column two (412) fixed connection are in bottom plate (204) top middle part, fixed column two (412) top fixedly connected with fixed suction cup (403), fixed column two (412) outer turnover is connected with rotating sleeve (413), a plurality of change grooves (414) have been seted up to rotating sleeve (413) periphery, change groove (414) inside all rotate and be connected with swivel (415), change cover (413) and all fixedly connected with fixed block one (407) in swivel (415) periphery both sides, change cover (413) periphery both sides all are connected with fixed bent rod two (406) through fixed block one (407), fixed bent rod one (404) and fixed bent rod two (406) top all fixedly connected with fixed wheel (402), inboard (402) are all fixedly connected with fixed bent rod one (404) top all, all are connected with fixed wheel one (411) through fixed block one (407), all fixed wheel one (405) are connected with fixed wheel one (405) in front of mobile phone (104), all are connected with fixed wheel one (405) all around fixed wheel (405), the utility model discloses a compression spring, including fixed bent rod (404) and fixed bent rod (406), fixed bent rod (404) and fixed bent rod (406) are all provided with guiding rod (409) in the front and back sides, guiding rod (409) both ends outer Zhou Jun sliding connection has fixed strip (410), fixed strip (410) all fixed connection is in fixed bent rod (404) and fixed bent rod (406) one end, guiding rod (409) front and back sides all are provided with elastic sheet (401), elastic sheet (401) both ends all with fixed strip (410) fixed connection, elastic sheet (401) are close to one side middle part all fixedly connected with internal spring piece (408), internal spring piece (408) all set up in guiding rod (409) front and back sides, driving frame (5) are including casing (501), casing (501) all fixed connection bottom plate (204) top both sides, top both sides all fixed connection have gag lever (505) in casing (501), gag lever post (505) bottom all run through fixed block two (506) and with fixed block two (506) sliding connection, fixed block two (401) are equipped with pressure spring (503) both ends (503) are equipped with in fixed frame (503) both ends (503), the top of the elastic sheet frame (502) is fixedly connected to the inner top of the shell (501) through a fixing disc (504).
2. The unmanned aerial vehicle inspection path planning apparatus of claim 1, wherein: the path planning module (6) comprises a camera shooting recording unit (61) and a processing chip (65), the camera shooting recording unit (61) is connected with a fixed point identification module (63), the fixed point identification module (63) is connected with a feature comparison module (62), the feature comparison module (62) is connected with a pre-alarm module (64), the camera shooting recording unit (61), the fixed point identification module (63), the feature comparison module (62) and the pre-alarm module (64) are electrically connected with the processing chip (65), the camera shooting recording unit (61) comprises a real-time camera shooting unit (611), a data transmission unit (612), a feature extraction unit (613) and a synchronous storage unit (614), the real-time camera shooting unit (611) is connected with the data transmission unit (612), the data transmission unit (612) is connected with the feature extraction unit (613), and the feature extraction unit (613) is connected with the synchronous storage unit (614).
3. The unmanned aerial vehicle inspection path planning apparatus of claim 2, wherein: the feature comparison module (62) comprises a feature receiving unit (621), a fixed point determining unit (632), a secondary confirming unit (623) and a data recording unit (624), wherein the feature receiving unit (621) is connected with a feature comparison unit (622), the feature comparison unit (622) is connected with a secondary confirming unit (623), and the secondary confirming unit (623) is connected with the data recording unit (624).
4. The unmanned aerial vehicle inspection path planning apparatus of claim 2, wherein: the fixed point identification module (63) comprises a region identification unit (631), a fixed point determination unit (632), a signal transmission unit (633) and a itinerant checking unit (634), wherein the region identification unit (631) is connected with the fixed point determination unit (632), the fixed point determination unit (632) is connected with the signal transmission unit (633), and the itinerant checking unit (634) is connected with the signal transmission unit (633).
5. The unmanned aerial vehicle inspection path planning apparatus of claim 2, wherein: the pre-alarm module (64) comprises a data receiving unit (641), an alarm prompting unit (642), a signal transmission unit (643) and a popup prompting unit (644), wherein the data receiving unit (641) is connected with the alarm prompting unit (642), the alarm prompting unit (642) is connected with the signal transmission unit (643), and the signal transmission unit (643) is connected with the popup prompting unit (644).
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