CN117039725B - Primary and secondary inspection robot for electric power inspection - Google Patents
Primary and secondary inspection robot for electric power inspection Download PDFInfo
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- CN117039725B CN117039725B CN202311295448.6A CN202311295448A CN117039725B CN 117039725 B CN117039725 B CN 117039725B CN 202311295448 A CN202311295448 A CN 202311295448A CN 117039725 B CN117039725 B CN 117039725B
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Abstract
The invention relates to the technical field of electric power inspection, and discloses a primary-secondary inspection robot for electric power inspection, which comprises the following components: the inspection vehicle is characterized in that a power supply and an unmanned aerial vehicle body which are electrically connected through a detachable joint are arranged in a vehicle cabin of the inspection vehicle, and a first ultraviolet detector is arranged on the unmanned aerial vehicle body; the storage mechanism is arranged in a cabin of the inspection vehicle and comprises a supporting component, a balancing component and a conveying component, wherein the supporting component is used for carrying out positioning and supporting on the unmanned aerial vehicle body, the balancing component is used for adjusting the horizontal supporting state of the supporting component, and the conveying component is used for adjusting the position of the balancing component. According to the invention, unmanned detection can be carried out on the power system, and the target area of the power system with high distance can be detected through the arrangement of the sub-machine, so that the limitation of power inspection by manually holding the ultraviolet electrified detector is overcome.
Description
Technical Field
The invention relates to the technical field of electric power inspection, in particular to a primary-secondary inspection robot for electric power inspection.
Background
The safety of the power equipment is one of the important safety operation of people, after all, the electricity brings great effect to the life of people, and once the problem occurs, the normal life of people can be influenced. The time advanced, there are many methods for detecting power equipment, and ultraviolet electrification detection is a new technology.
The ultraviolet imaging detection technology has been developed comprehensively in the years, and as a new application technology, the insulation state of the power equipment is accurately estimated by applying a large amount of ultraviolet light generated in the discharge process of the power equipment, so that the existing discharge defects of the equipment can be timely checked. Compared with other methods, the technology has the advantages of simplicity, convenience, accuracy and safety, and can not influence the normal operation of other equipment in the application process.
The ultraviolet imaging detection principle is as follows: in the process of external insulation partial discharge, surrounding gas is broken down and ionized, the frequency of the emitted light wave after gas ionization is related to the type of the gas, the main component in the air is nitrogen, the nitrogen is ionized under the action of the partial discharge, the spectrum emitted by ionized nitrogen atoms mainly falls in an ultraviolet light wave band during recombination, an ultraviolet imager is used for receiving an ultraviolet signal in a solar blind area generated by discharge, and the ultraviolet signal is superimposed with a visible light image after treatment, so that the position and the intensity of corona are determined, and the photon number of a discharge area can be visually reflected by the corona intensity.
The ultraviolet charged test technology is mainly suitable for detecting carbonization channels and electric erosion caused by partial discharge of the surface layer of equipment, primary equipment trauma, pollution degree of high-voltage equipment, insulation defect detection and the like of power transformation equipment, however, in the prior art, electric power detection is usually carried out in a mode of manually holding an ultraviolet charged detector, when a detected target area is far away from the detector (for example, the target area is on a higher telegraph pole), the detector can generate unstable detection data, and the detected data can not accurately reflect the damaged discharge condition of the target area naturally.
Disclosure of Invention
The invention aims to provide a primary-secondary inspection robot for electric power inspection, which solves the technical problems that:
the aim of the invention can be achieved by the following technical scheme:
a primary and secondary inspection robot for power inspection, comprising:
the inspection vehicle is characterized in that a power supply and an unmanned aerial vehicle body which are electrically connected through a detachable joint are arranged in a vehicle cabin of the inspection vehicle, and a first ultraviolet detector is arranged on the unmanned aerial vehicle body;
the storage mechanism is arranged in the cabin of the inspection vehicle and comprises a supporting component, a balancing component and a conveying component, wherein the supporting component is used for carrying out positioning support on the unmanned aerial vehicle body, the balancing component is used for adjusting the horizontal supporting state of the supporting component, and the conveying component is used for adjusting the position of the balancing component;
the positioning mechanism is used for fixing the position of the inspection vehicle when the storage mechanism works;
the acquisition module is arranged at the upper end of the inspection vehicle and used for acquiring environmental information data and comprises a multi-axis mechanical arm, wherein a second ultraviolet detector and a range finder are arranged at the movable end of the multi-axis mechanical arm;
the data processing end is arranged in the cabin of the inspection vehicle and is used for analyzing and processing the environmental information data and establishing a starting control strategy for the unmanned aerial vehicle body according to the analysis and processing result.
As a further technical scheme, the lower extreme of unmanned aerial vehicle body is equipped with the circular slot, the tank bottom of circular slot is fixed to be equipped with the magnetism pad, the lower extreme of unmanned aerial vehicle body centers on the circular slot is still fixed to be equipped with a plurality of electric putter, the flexible end of electric putter is opened along the pole length direction has the spout, sliding connection has the round pin axle in the spout, the round pin axle is kept away from the one end fixedly connected with supporting shoe of electric putter, the ball wheel is installed to the lower extreme of supporting shoe, just the upper end of supporting shoe with fixedly connected with compression spring between the flexible end of electric putter.
As a further technical scheme, the supporting component comprises a mounting plate, the upper end fixedly connected with fixed axle of mounting plate, the upper end fixedly connected with backup pad of fixed axle, the electromagnet is installed to the upper end of backup pad, the electromagnet inserts in the circular slot and with the laminating of magnetic pad, rotate on the fixed axle and install the toothed disc, the edge of toothed disc is opened there is the ring channel, open in the ring channel have a plurality of with electric putter one-to-one's through-hole, still be equipped with electrically driven worm on the mounting plate, just the worm with the toothed disc meshing.
As a further technical scheme, the balance assembly comprises a U-shaped plate, two sides of the mounting plate are respectively connected with two ends of the U-shaped plate in a rotating mode, the convex side of the U-shaped plate is further connected with a bearing plate in a rotating mode, and a rotating connection end of the mounting plate and the U-shaped plate is provided with a first servo motor used for driving the mounting plate to rotate.
As a further technical scheme, the conveying assembly comprises a first electric sliding rail, a sliding block is connected to the first electric sliding rail in a sliding mode, the bearing plate is fixedly installed on the sliding block, and when the sliding block slides to be close to one end of the power supply, the unmanned aerial vehicle body is electrically connected with the power supply through a detachable connector.
As a further technical scheme, the storage mechanism further comprises a pickup assembly, the pickup assembly comprises two second electric sliding rails vertically arranged on the side of a cabin door of the inspection vehicle, a movable beam is connected between the two second electric sliding rails in a sliding manner, a guide groove is formed in the movable beam, two lifting claws are connected in the guide groove in a sliding manner, an electric driving rotating shaft is arranged in the guide groove, opposite threads are formed in two ends of the rotating shaft, and two ends of the rotating shaft are respectively connected with two lifting claw rolling machine threads.
As a further technical scheme, the positioning mechanism comprises a driving assembly and positioning assemblies symmetrically arranged at two sides of the inspection vehicle;
the drive assembly is including setting up the second servo motor of inspection car lower extreme, the locating component includes:
the first fixing block is fixedly arranged on the side wall of the inspection vehicle and is in threaded connection with a threaded rod;
the second fixed block is fixedly arranged on the side wall of the inspection vehicle, a through hole is formed in the second fixed block, one end of the through hole is coaxially connected with a rotating wheel in a rotating mode, a movable shaft is connected in the rotating wheel in a sliding mode through a spline, the rotating wheel is connected with the second servo motor through belt transmission, one end of the movable shaft penetrates through the through hole and is fixedly connected with one end of the threaded rod, and a first gear is arranged at the lower end of the movable shaft;
the connecting plate is connected with the second fixed block through a plurality of telescopic rods, a first supporting rod parallel to the side wall of the inspection vehicle is fixedly arranged at the lower end of the connecting plate, and the movable shaft is rotationally connected with the connecting plate;
the first supporting rod is fixedly arranged at the lower end of the connecting plate and is parallel to the side wall of the inspection vehicle;
the second support rod, the one end of second support rod is fixed with the second gear, the second gear with the connecting plate rotates to be connected, just the second gear with first gear engagement.
As a further technical solution, the process of establishing the start control policy for the unmanned aerial vehicle body includes:
multiple sets of discharge intensity data corresponding to the target area are measured for multiple times based on the second ultraviolet detector, and the distance between the target area and the patrol car during measurement is obtained based on the range finder;
and calculating and acquiring suspicious parameters of the target area according to the multiple groups of discharge intensity data and the distance data of the target area from the inspection vehicle, and starting the unmanned aerial vehicle body to inspect the target area if the suspicious parameters exceed a preset threshold.
The invention has the beneficial effects that:
according to the invention, the patrol car is used as a master machine, the unmanned aerial vehicle body is used as a slave machine, so that unmanned detection can be carried out on a power system, and a target area of the power system with a high distance can be detected through the arrangement of the slave machine, the limitation of electric power detection by a manual hand-held ultraviolet electrified detector is overcome, and the detected data can reflect the damage discharge condition of the target area more accurately;
according to the invention, through the arrangement of the storage mechanism, the actions of starting and sending out the unmanned aerial vehicle body and sending in the charging to the inspection vehicle cabin can be completed, the inspection vehicle has a detection function on one hand, and a continuous voyage guarantee is provided for the unmanned aerial vehicle body on the other hand, the arrangement of the positioning mechanism provides a more stable working environment for the actions, and the appropriate condition of the dispatcher is judged through the cooperation of the acquisition module and the data processing end, so that the starting control strategy of the dispatcher is established in time.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of another view of the present invention;
FIG. 3 is a schematic view of the structure of FIG. 2B in accordance with the present invention;
FIG. 4 is a schematic view of a partial structure of the present invention;
fig. 5 is a schematic view of the structure of fig. 4C of the drawings according to the present invention.
Description of the drawings: 1. a patrol car; 2. an unmanned aerial vehicle body; 21. a first ultraviolet detector; 22. an electric push rod; 23. a pin shaft; 24. a support block; 25. a ball wheel; 31. a support assembly; 311. a mounting plate; 312. a fixed shaft; 313. a support plate; 314. a gear plate; 315. an annular groove; 316. a worm; 32. a balancing assembly; 321. a U-shaped plate; 322. a receiving plate; 331. a slide block; 34. a pick-up assembly; 341. a second electrical slide rail; 342. a movable beam; 343. lifting the claw; 4. a positioning mechanism; 41. a second servo motor; 42. a first fixed block; 421. a threaded rod; 43. a second fixed block; 431. a rotating wheel; 432. a movable shaft; 433. a first gear; 44. a connecting plate; 441. a telescopic rod; 45. a first support bar; 46. a second support bar; 461. a second gear; 51. a multi-axis mechanical arm; 52. a second ultraviolet detector; 53. a distance measuring instrument.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-2, a primary-secondary inspection robot for power inspection includes:
the inspection vehicle 1, wherein a power supply and an unmanned aerial vehicle body 2 which are electrically connected through a detachable joint are arranged in a vehicle cabin of the inspection vehicle 1, and a first ultraviolet detector 21 is arranged on the unmanned aerial vehicle body 2;
the storage mechanism is arranged in the cabin of the inspection vehicle 1 and comprises a supporting component 31, a balancing component 32 and a conveying component, wherein the supporting component 31 is used for carrying out positioning support on the unmanned aerial vehicle body 2, the balancing component 32 is used for adjusting the horizontal supporting state of the supporting component 31, and the conveying component is used for adjusting the position of the balancing component 32;
the positioning mechanism 4 is used for fixing the position of the inspection vehicle 1 when the storage mechanism works;
the acquisition module is arranged at the upper end of the inspection vehicle 1 and is used for acquiring environmental information data and comprises a multi-axis mechanical arm 51, and a second ultraviolet detector 52 and a range finder 53 are arranged at the movable end of the multi-axis mechanical arm 51;
the data processing end is arranged in the cabin of the inspection vehicle 1 and is used for analyzing and processing environment information data and establishing a starting control strategy for the unmanned aerial vehicle body 2 according to an analysis and processing result.
Through the above-mentioned technical scheme, this embodiment provides a primary and secondary inspection robot for electric power inspection, can replace manual monitoring electric power system, regard as the mother aircraft with the inspection car, unmanned aerial vehicle body 2 is as the son machine, not only can carry out unmanned detection to electric power system, can detect the electric power system target area that is far away from the position height through the setting of son machine moreover, overcome the limitation that manual handheld ultraviolet electrification detector carries out electric power inspection, also indirectly make the data that detects can reflect the damage discharge condition of target area more accurately. In addition, through the setting of receiving mechanism, can accomplish the action that starts to send out of child machine and send into the charging to patrol and examine the car cabin in, setting up of positioning mechanism 4 provides more steady operational environment for above-mentioned action, through the cooperation of collection module and data processing end, judges the suitable condition of sending the child machine, in time establishes the start control strategy to child machine.
As shown in fig. 4, the lower extreme of unmanned aerial vehicle body 2 is equipped with the circular slot, the tank bottom of circular slot is fixed to be equipped with the magnetism pad, the lower extreme of unmanned aerial vehicle body 2 centers on the circular slot is still fixed to be equipped with a plurality of electric putter 22, the flexible end of electric putter 22 is opened along the pole length direction has the spout, sliding connection has round pin axle 23 in the spout, the round pin axle 23 is kept away from the one end fixedly connected with supporting shoe 24 of electric putter 22, ball wheel 25 is installed to the lower extreme of supporting shoe 24, just fixedly connected with compression spring between the upper end of supporting shoe 24 with the flexible end of electric putter 22.
As shown in fig. 4-5, the supporting component 31 comprises a mounting plate 311, the upper end of the mounting plate 311 is fixedly connected with a fixed shaft 312, the upper end of the fixed shaft 312 is fixedly connected with a supporting plate 313, the upper end of the supporting plate 313 is provided with an electromagnet, the electromagnet is inserted into the circular groove and is attached to the magnetic pad, the fixed shaft 312 is rotatably provided with a gear disc 314, the edge of the gear disc 314 is provided with an annular groove 315, a plurality of through holes corresponding to the electric push rods 22 one by one are arranged in the annular groove 315, the mounting plate 311 is also provided with an electrically driven worm 316, and the worm 316 is meshed with the gear disc 314.
Through the above technical scheme, this embodiment provides the structure of the structural feature of unmanned aerial vehicle body 2 and the supporting component 31 that corresponds the setting with unmanned aerial vehicle body 2, specifically, when unmanned aerial vehicle drops to the backup pad 313, the electromagnet is circular telegram, electromagnet and magnetic pad attract each other, impel the electromagnet to insert in the circular slot and accomplish centering, the orientation around the unmanned aerial vehicle body 2 is adjusted next, make unmanned aerial vehicle body 2 after accomodating can accurately accomplish the butt joint with the power, start electric push rod 22, make ball wheel 25 fall into ring channel 315, compression spring at this moment is in compression state, round pin axle 23 is in the state of shrink to the spout, then, drive worm 316 rotates, drive gear disc 314 rotates, ball wheel 25 rolls in ring channel 315, until through corresponding through-hole, reach the state that pin 23 inserts the through-hole as shown in fig. 5, control gear disc 314 rotates to preset position, just accomplish the location support to unmanned aerial vehicle body 2. It should be noted that the electromagnet needs to be powered off and demagnetized before the unmanned aerial vehicle body 2 takes off.
As shown in fig. 4, the balancing assembly 32 includes a U-shaped plate 321, two sides of the mounting plate 311 are respectively rotatably connected with two ends of the U-shaped plate 321, a receiving plate 322 is rotatably connected to a convex side of the U-shaped plate 321, and a first servo motor for driving the mounting plate 311 to rotate is disposed at a rotational connection end of the mounting plate 311 and the U-shaped plate 321.
Through above-mentioned technical scheme, this embodiment provides the structure of balance assembly 32, and mounting panel 311 is the rotation of U template 321 self on the board 322 is being accepted in the normal running fit between the two arms of U template 321, can adjust support assembly 31 to horizontal position together with unmanned aerial vehicle body 2, makes things convenient for the dismantlement butt joint of unmanned aerial vehicle and power.
As shown in fig. 4, the conveying assembly includes a first electric slide rail, a sliding block 331 is slidably connected to the first electric slide rail, the receiving board 322 is fixedly mounted on the sliding block 331, and when the sliding block 331 slides to a position close to one end of the power supply, the unmanned aerial vehicle body 2 is electrically connected with the power supply through a detachable connector.
Through above-mentioned technical scheme, this embodiment provides the concrete structure of conveying subassembly, through the transmission cooperation of first electric slide rail and slider 331, can realize the transportation inside and outside the relative car cabin of supporting component 31, balance component 32 and unmanned basic body.
As shown in fig. 2, the storage mechanism further includes a pickup assembly 34, the pickup assembly 34 includes two second electric slide rails 341 vertically mounted on a door edge of the inspection vehicle 1, two movable beams 342 are slidably connected between the second electric slide rails 341, a guide groove is formed on the movable beams 342, two lifting claws 343 are slidably connected in the guide groove, an electrically driven rotating shaft is disposed in the guide groove, opposite threads are formed at two ends of the rotating shaft, and two ends of the rotating shaft are respectively in threaded connection with the two lifting claws 343.
Through the above technical scheme, this embodiment provides a pick-up assembly 34 for picking up unmanned aerial vehicle body 2, pick-up action's in-process, at first, fly beam 342 slides to the minimum position along second electric slide rail 341, drive pivot rotates, drives two and lifts claw 343 and go in opposite directions, when lifting claw 343 is located unmanned aerial vehicle body 2's lower extreme suitable position, fly beam 342 slides along second electric slide rail 341 again and rises, and conveying assembly sends out supporting assembly 31, lifts claw 343 and resumes initial position after placing unmanned aerial vehicle body 2 on supporting assembly 31. It should be noted that, the pickup assembly 34 is applied to a special case where the unmanned aerial vehicle cannot directly land to the supporting assembly 31, for example, the unmanned aerial vehicle body 2 lands abnormally after being disturbed by the environment.
As shown in fig. 2-3, the positioning mechanism 4 comprises a driving component and positioning components symmetrically arranged at two sides of the inspection vehicle 1;
the drive assembly includes the second servo motor 41 that sets up in inspection vehicle 1 lower extreme, the locating component includes:
the first fixing block 42 is fixedly arranged on the side wall of the inspection vehicle 1, and a threaded rod 421 is connected to the first fixing block 42 in a threaded manner;
the second fixed block 43 is fixedly arranged on the side wall of the inspection vehicle 1, a through hole is formed in the second fixed block 43, one end of the through hole is coaxially connected with a rotating wheel 431 in a rotating mode, a movable shaft 432 is slidably connected in the rotating wheel 431 through a spline, the rotating wheel 431 is connected with the second servo motor 41 through belt transmission, one end of the movable shaft 432 penetrates through the through hole and is fixedly connected with one end of the threaded rod 421, and a first gear 433 is arranged at the lower end of the movable shaft 432;
the connecting plate 44 is connected with the second fixed block 43 through a plurality of telescopic rods 441, a first supporting rod 45 parallel to the side wall of the inspection vehicle is fixedly arranged at the lower end of the connecting plate 44, and the movable shaft 432 is rotatably connected with the connecting plate 44;
the first supporting rod 45 is fixedly arranged at the lower end of the connecting plate 44 and is parallel to the side wall of the inspection vehicle;
and a second support rod 46, wherein a second gear 461 is fixed at one end of the second support rod 46, the second gear 461 is rotatably connected with the connecting plate 44, and the second gear 461 is meshed with the first gear 433.
Through the above technical scheme, this embodiment provides the structure of positioning mechanism 4, when need carry out the position locking to inspection vehicle 1, drive second servo motor 41, through the transmission effect of belt, drive runner 431 rotation, and then, pass through spline connection's loose axle 432 rotation with runner 431, and the loose axle 432 rotates, while, the threaded rod 421 rotates and drives the loose axle 432 and descends, connecting plate 44 descends, telescopic link 441 is tensile, first gear 433 rotates along with the loose axle 432, and drive second gear 461 rotates, the second bracing piece expands under the drive of second gear 461, and form certain angle with first bracing piece 45, first bracing piece 45 and second support play the supporting role simultaneously and constitute the support claw shape, can realize more stable support, moreover, when removing the locking to inspection vehicle 1, reverse operation above-mentioned action, can realize accomodating second bracing piece 46, accomodating the state, first bracing piece 45 and second bracing piece 46 laminating and be parallel to the lateral wall of inspection vehicle.
The process of establishing the start control strategy for the unmanned aerial vehicle body 2 includes:
multiple sets of discharge intensity data corresponding to the target area are measured for multiple times based on the second ultraviolet detector 52, and the distance from the target area to the inspection vehicle 1 during the measurement is obtained based on the distance meter 53;
by the formulaCalculating suspicious parameters of the target area；
Wherein d is the distance from the target area to the inspection vehicle 1 during measurement, and the distance is specifically the shortest distance under the condition that the second ultraviolet detector 52 can capture the discharge information of the target area; n is the number of measurements;for the number of photons per unit time of the target area measured at the ith time, in particular, +.>(wherein,，/>the left break point and the right break point of the unit time interval corresponding to the ith measurement are respectively obtained; />Is the length of a unit time interval;a time-dependent plot of the number of photons discharged to the target area detected by the second ultraviolet detector 52);；/>the standard fluctuation coefficient is preset, and can be obtained according to multiple times of experimental data fitting;
suspicious parameters obtained through the fitting processAnd a preset threshold->And (3) comparing:
if it isThe unmanned aerial vehicle body 2 is not started;
if it isAnd starting the unmanned aerial vehicle body 2 to perform specific inspection on the target area.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (5)
1. Primary and secondary inspection robot for electric power inspection, characterized by comprising:
the inspection vehicle (1), a power supply and an unmanned aerial vehicle body (2) which are electrically connected through a detachable joint are arranged in a vehicle cabin of the inspection vehicle (1), and a first ultraviolet detector (21) is arranged on the unmanned aerial vehicle body (2);
the storage mechanism is arranged in a vehicle cabin of the inspection vehicle (1) and comprises a supporting component (31), a balancing component (32) and a conveying component, wherein the supporting component (31) is used for carrying out positioning support on the unmanned aerial vehicle body (2), the balancing component (32) is used for adjusting the horizontal supporting state of the supporting component (31), and the conveying component is used for adjusting the position of the balancing component (32);
the positioning mechanism (4) is used for fixing the position of the inspection vehicle (1) when the storage mechanism works;
the acquisition module is arranged at the upper end of the inspection vehicle (1) and used for acquiring environmental information data and comprises a multi-axis mechanical arm (51), and a second ultraviolet detector (52) and a range finder (53) are arranged at the movable end of the multi-axis mechanical arm (51);
the data processing end is arranged in the vehicle cabin of the inspection vehicle (1) and is used for analyzing and processing environment information data and establishing a starting control strategy for the unmanned aerial vehicle body (2) according to an analysis and processing result;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body (2), and is characterized in that a round groove is formed in the lower end of the unmanned aerial vehicle body (2), a magnetic pad is fixedly arranged at the bottom of the round groove, a plurality of electric push rods (22) are fixedly arranged at the lower end of the unmanned aerial vehicle body (2) around the round groove, sliding grooves are formed in the telescopic ends of the electric push rods (22) along the length direction of the rods, a pin roll (23) is slidably connected in the sliding grooves, one end, away from the electric push rods (22), of the pin roll (23) is fixedly connected with a supporting block (24), a ball wheel (25) is arranged at the lower end of the supporting block (24), and a compression spring is fixedly connected between the upper end of the supporting block (24) and the telescopic ends of the electric push rods (22);
the support assembly (31) comprises a mounting plate (311), the upper end of the mounting plate (311) is fixedly connected with a fixed shaft (312), the upper end of the fixed shaft (312) is fixedly connected with a support plate (313), an electromagnet is mounted at the upper end of the support plate (313), the electromagnet is inserted into the circular groove and is attached to the magnetic pad, a gear disc (314) is rotatably mounted on the fixed shaft (312), an annular groove (315) is formed in the edge of the gear disc (314), a plurality of through holes corresponding to the electric push rods (22) one by one are formed in the annular groove (315), an electrically driven worm (316) is further arranged on the mounting plate (311), and the worm (316) is meshed with the gear disc (314);
the balance assembly (32) comprises a U-shaped plate (321), two sides of the mounting plate (311) are respectively connected with two ends of the U-shaped plate (321) in a rotating mode, a bearing plate (322) is further connected to the convex side of the U-shaped plate (321) in a rotating mode, and a first servo motor used for driving the mounting plate (311) to rotate is arranged at the rotating connection end of the mounting plate (311) and the U-shaped plate (321).
2. The primary and secondary inspection robot for electric power inspection according to claim 1, wherein the conveying assembly comprises a first electric slide rail, a sliding block (331) is slidably connected to the first electric slide rail, the receiving plate (322) is fixedly installed on the sliding block (331), and when the sliding block (331) slides to be close to one end of the power supply, the unmanned aerial vehicle body (2) is electrically connected with the power supply through a detachable connector.
3. The primary and secondary inspection robot for electric power inspection according to claim 2, wherein the storage mechanism further comprises a pickup assembly (34), the pickup assembly (34) comprises two second electric sliding rails (341) vertically installed on the edges of a cabin door of the inspection vehicle (1), a movable beam (342) is slidably connected between the two second electric sliding rails (341), a guide groove is formed in the movable beam (342), two lifting claws (343) are slidably connected in the guide groove, an electric driving rotating shaft is arranged in the guide groove, opposite threads are formed at two ends of the rotating shaft, and two ends of the rotating shaft are respectively in threaded connection with two lifting claws (343) of the rolling machine.
4. The primary-secondary inspection robot for electric power inspection according to claim 1, characterized in that the positioning mechanism (4) comprises a driving assembly and positioning assemblies symmetrically arranged at two sides of the inspection vehicle (1);
the drive assembly is including setting up second servo motor (41) of inspection car (1) lower extreme, the locating component includes:
the first fixed block (42) is fixedly arranged on the side wall of the inspection vehicle (1), and a threaded rod (421) is connected to the first fixed block (42) in a threaded manner;
the second fixed block (43) is fixedly arranged on the side wall of the inspection vehicle (1), a through hole is formed in the second fixed block (43), one end of the through hole is coaxially connected with a rotating wheel (431) in a rotating mode, a movable shaft (432) is slidably connected in the rotating wheel (431) through a spline, the rotating wheel (431) is connected with the second servo motor (41) through a belt in a transmission mode, one end of the movable shaft (432) penetrates through the through hole and is fixedly connected with one end of the threaded rod (421), and a first gear (433) is arranged at the lower end of the movable shaft (432);
the connecting plate (44), connect through a plurality of telescopic links (441) between said connecting plate (44) and said second fixed block (43), the lower end of said connecting plate (44) is fixed with the first support bar (45) parallel to said side wall of inspection vehicle (1), said movable shaft (432) is connected with said connecting plate (44) rotatably;
the first supporting rod (45) is fixedly arranged at the lower end of the connecting plate (44) and is parallel to the side wall of the inspection vehicle (1);
the second support rod (46), one end of second support rod (46) is fixed with second gear (461), second gear (461) with connecting plate (44) rotate to be connected, just second gear (461) with first gear (433) meshing.
5. The primary-secondary inspection robot for power inspection according to claim 1, wherein the process of establishing a start control strategy for the unmanned aerial vehicle body (2) comprises:
multiple sets of discharge intensity data corresponding to the target area are measured for multiple times based on the second ultraviolet detector (52), and the distance between the target area and the patrol car (1) during measurement is obtained based on the range finder (53);
according to the multiple groups of discharge intensity data and the distance data of the target area from the inspection vehicle (1), calculating and obtaining suspicious parameters of the target area, and if the suspicious parameters exceed a preset threshold, starting the unmanned aerial vehicle body (2) to inspect the target area.
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| CN116198761A (en) * | 2023-03-31 | 2023-06-02 | 重庆移通学院 | Special vehicle for electric power line inspection unmanned aerial vehicle |
| CN116316231A (en) * | 2023-04-03 | 2023-06-23 | 广东电网有限责任公司 | Intelligent inspection vehicle for transformer substation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120250010A1 (en) * | 2011-03-31 | 2012-10-04 | Richard Charles Hannay | Aerial Inspection System(s) and Method(s) |
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| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
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Inventor after: Tan Rujun Inventor after: Li Yingyuan Inventor after: Wang Quanlong Inventor after: Tang Huaizhi Inventor after: Li Qihui Inventor after: Li Hongfang Inventor after: Wu Xueliang Inventor after: Liang Qihe Inventor after: Chen Song Inventor after: Guan Guanyu Inventor after: Mai Zhongyang Inventor after: Cai Zhifeng Inventor before: Tan Rujun Inventor before: Wang Quanlong Inventor before: Tang Huaizhi Inventor before: Li Hongfang Inventor before: Wu Xueliang Inventor before: Liang Qihe Inventor before: Chen Song Inventor before: Guan Guanyu Inventor before: Mai Zhongyang Inventor before: Cai Zhifeng Inventor before: Li Yingyuan |