CN202197057U - UAV (unmanned aerial vehicle) aircraft patrol system for power transmission line - Google Patents

UAV (unmanned aerial vehicle) aircraft patrol system for power transmission line Download PDF

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Publication number
CN202197057U
CN202197057U CN201120349320XU CN201120349320U CN202197057U CN 202197057 U CN202197057 U CN 202197057U CN 201120349320X U CN201120349320X U CN 201120349320XU CN 201120349320 U CN201120349320 U CN 201120349320U CN 202197057 U CN202197057 U CN 202197057U
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CN
China
Prior art keywords
camera
transmission line
unmanned plane
patrol
gyroscope
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Withdrawn - After Issue
Application number
CN201120349320XU
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Chinese (zh)
Inventor
权军
田凯
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CHINA-TIMES AEROSPACE TECHNOLOGY Co Ltd
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CHINA-TIMES AEROSPACE TECHNOLOGY Co Ltd
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Priority to CN201120349320XU priority Critical patent/CN202197057U/en
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Abstract

The utility model relates to a UAV aircraft patrol system for a power transmission line, which consists of an unmanned aerial vehicle, a camera system and a control system. The camera system is mounted on a rotational station frame; the rotational station frame is fixedly connected with the unmanned aerial vehicle; and the camera system comprises a gyroscope part and a camera part. The utility model has the positive effects that a gyro-stabilized visible light detector, an infrared thermal imager and other load equipments are arranged on the unmanned aerial vehicle to check, video-record and photograph the power transmission line, so that the line is checked and recorded in various manners in combination with the various equipments, thereby greatly improving the technical content in the patrol of the power transmission line; particularly, the advantages of the aircraft patrol system can be better shown on a mountain or an extra (super)-high-voltage power transmission line and other places that are difficultly patrolled by a worker; and the aircraft patrol system is a giant leap, has the advantages of high technology, high efficiency and no regional influence, has the important practical significance on improving the line patrol efficiency and improving the economy, the safety and the reliability of line patrol equipment and simultaneously plays a great helping and promoting role in optimizing task equipment for the manned vehicle aircraft patrol for a power transmission line.

Description

A kind of unmanned plane transmission line boat is patrolled system
Technical field
The utility model belongs to the unmanned plane field, relates to the unmanned plane line walking, and especially a kind of unmanned plane transmission line boat is patrolled system.
Background technology
The safe operation of transmission line not only is related to the national product life, and is related to the stable operation of electric power system.Polling transmission line work is important, the indispensable work that guarantees safety, reliable power supply.The mode of present electric power inspection mainly is made up of artificial line walking and aviation line walking.Artificial line walking is carried out and the supervision difficulty, and labour intensity is big, and fail safe is relatively poor; And have the operation cost of people's helicopter in electric inspection higher; Not only the lease cost of body is high, and the construction cost on airport is high, and the flight of specialty is difficult with maintenance team's management and training; In actual use; All the time be difficult to avoid the factor of " people ", in the operation process in high-risk field, in case the loss that has an accident and be difficult to remedy with bringing.
In recent years; The ripe gradually and external unmanned plane and the control appliance thereof that are accompanied by China's UAV technology get into China; Adopt unmanned plane inspection power circuit to possess technical feasibility, advance the unmanned plane boat to patrol transmission line work and had actual realistic meaning.Depopulated helicopter electric power line walking is checked the various device situation of circuit and electric tower comprehensively through fast speeds; The precision instrument that carries simultaneously can detect profound line fault and hidden fault, and data are in time returned, and problem was handled the same day; Line walking speed is fast; Easy and simple to handle, use cost is cheap, for the safety of electrical network provides important leverage with efficiently moving.Adopt the unmanned plane line walking can increase coefficient of safety greatly, increase the inspection number of times that cruises, reduce the cost of operation management, improve efficiency of operation, and operation is simpler, dependable performance, has better economic benefit and social benefit.
The utility model content
The purpose of the utility model is to overcome the weak point of prior art, a kind of simple and reasonable, dependable performance, good stability is provided, can be used for the unmanned plane transmission line boat that high definition takes and patrol system.
The utility model solves its technical problem and takes following technical scheme to realize:
A kind of unmanned plane transmission line boat is patrolled system; Be made up of unmanned plane, camera system, control system, camera system is packed on the unmanned plane, it is characterized in that: camera system is fixedly connected with unmanned plane through tripod head frame; Camera system comprises gyroscope part and camera part; Said gyroscope partly comprises mechanical gyroscope, tripod head frame, gyro frame, and said camera part comprises video camera, camera pedestal, video camera holder, and concrete structure is:
(1) gyroscope part: said gyro frame is made up of with the footpath inside casing and housing; Install mechanical gyroscope on the inside casing; All be connected diametrically between inside casing and the housing through rotating shaft; The housing both sides axially on all through central shaft installation tripod head frame, on the housing of corresponding inside casing one side rotating shaft, be extended with the output of outer shaft, be fixed with a driving wheel in the output end of this rotating shaft;
(2) camera part: the central shaft in the wherein axial side of tripod head frame stretches out tripod head frame; The coaxial camera pedestal that installs to open front in the end of this central shaft; In the frame of this camera pedestal, radially the video camera holder is installed through hinge; In this video camera holder with spigot shaft coaxle to installing video camera, on corresponding video camera holder one side camera pedestal, the end of the hinge of video camera holder installs a driven pulley;
(3) driven pulley of the driving wheel of the housing of gyroscope part and the video camera holder of camera part in the same way, radial symmetric is hinged with two Synchronous Transmission bars on the radially card of driving wheel, the other end of these two Synchronous Transmission bars cuts with scissors and is contained on the radially card of driven pulley.
And said two tripod head frame are closed-in construction, and the centre is provided with reinforcement.
And said driving wheel and driven pulley are set to the footpath, and the position of two Synchronous Transmission bars of the dress that cuts with scissors is identical.
The advantage and the good effect of the utility model are:
1, loading devices such as gyro-stabilized visible light detector and infrared thermography are equipped by this boat system that patrols on unmanned plane; Transmission line is checked and video recording is taken pictures; Like this plurality of devices is combined circuit is carried out multimedia inspection and record; Improved the technology content that transmission line is maked an inspection tour greatly; And in the high mountain high hill or manual work such as spy's (surpassing) ultra-high-tension power transmission line place that is difficult to make an inspection tour more can show its superiority, be a huge leap forward on line inspection, have high-tech, high efficiency, do not receive advantages such as regional impact; Raising line walking efficient, raising line walking equipment economy, fail safe, reliability are had important practical significance, and the task device that has man-machine transmission line boat to patrol to optimization simultaneously also has great help and facilitation.
2, this boat system of patrolling utilizes the airborne gyro stabilization infrared image instrumentation to combine with near the hovering flight of unmanned plane circuit; Seek the defective of local pyrexia type on the transmission facility; Utilize the airborne visible light number visible defects on the scientific discovery transmission facility of making video recording, utilize GPS technology and voice recording system that the defective locations of each shaft tower is carried out record, after various faults take place; Depopulated helicopter can fly into the electric power accident zone very first time and monitor, and gets the repairing time.
3, this boat system that patrols is controlled through data chainning by the ground remote control system; Carry out the essence control then and transmit picture or video in real time; And possess the autonomous turn-by-turn navigation control of GPS, the automatic control of geographical coupling, overhead line structures from flight controlling functions such as motion trackings; Make the unmanned aerial vehicle line walking get into real full-automatic mission phase, with its economy, fail safe and convenience, large-scale in the aviation line walking, the use also becomes a kind of inevitable trend.
Description of drawings
Fig. 1 is the control system block diagram of the utility model;
Fig. 2 is the camera system structural front view of the utility model;
Fig. 3 is the right view of Fig. 2;
Fig. 4 is the vertical view of Fig. 2;
Fig. 5 is the local amplification plan view of the gyroscope of Fig. 4
Fig. 6 is the perspective view of the utility model.
Embodiment
Below in conjunction with accompanying drawing and through specific embodiment the utility model is done further to detail, following examples are descriptive, are not determinate, can not limit the protection range of the utility model with this.
A kind of unmanned plane transmission line boat is patrolled system; Constitute by unmanned plane, camera system, control system; Unmanned plane comprises depopulated helicopter and unmanned vehicle; Camera system is packed on the undercarriage of unmanned plane below, also can be packed in other positions of unmanned plane, and control system comprises unmanned plane receiving system, shooting control system, ground control system and ground receiving system.Because unmanned plane receiving system, shooting control system, ground control system and ground receiving system also can adopt general intelligent operating system, so the utility model only provides the whole controlling system block diagram, referring to Fig. 1.
Below the structure of main narration camera system.Referring to Fig. 2,3,4,5,6.
In the present embodiment, camera system preferably is packed on the undercarriage of unmanned plane below, and video camera or camera and tripod head frame are formed The Cloud Terrace, and mechanical gyroscope is installed on The Cloud Terrace, and The Cloud Terrace adopts supporting plate and holding screw to be fixedly connected with the undercarriage of unmanned plane.
Camera system comprises gyroscope part and camera part, and gyroscope partly comprises mechanical gyroscope 9, tripod head frame 5, gyro frame 8, and camera part comprises video camera 1, camera pedestal 4, video camera holder 12.Describe respectively below:
The gyroscope part:
Mechanical gyroscope is installed on the gyro frame; Referring to Fig. 2,3,4,5; Concrete structure is: said gyro frame is made up of with the footpath inside casing 15 and housing 14, all is connected diametrically between inside casing and the housing through rotating shaft 16, the mechanical gyrostatic inside casing of realization installation at the housing internal diameter to rotation; The housing both sides axially on all through central shaft 10 installation tripod head frame, these two tripod head frame are closed-in construction, the centre is provided with reinforcement, tripod head frame can install with unmanned plane.Through said structure, can realize that gyroscope swings around two dimensions of central shaft and rotating shaft; On the housing of corresponding inside casing one side rotating shaft, be extended with the output of outer shaft, be fixed with a driving wheel 7 in the output end of this rotating shaft.
Camera part:
Referring to Fig. 2,4,6; Central shaft in the wherein axial side of tripod head frame stretches out tripod head frame; The coaxial camera pedestal that installs to the U-shaped of open front in the end of this central shaft is radially installed the video camera holders through hinge 3 in the frame of this camera pedestal, in this video camera holder with spigot shaft coaxle to adopting trip bolts 11 to install video camera through supporting plate 13; When being implemented in the central shaft rotation thus, this central shaft drives camera pedestal coaxial rotation; On corresponding video camera holder one side camera pedestal, the end of the hinge of video camera holder installs a driven pulley 2.
The driven pulley of the driving wheel of the housing of gyroscope part and the video camera holder of camera part in the same way; Radial symmetric is hinged with two Synchronous Transmission bars 6 on the radially card of driving wheel; The other end hinge of these two Synchronous Transmission bars is contained on the radially card of driven pulley, and driving wheel and driven pulley are set to the footpath, and the position of two Synchronous Transmission bars of the dress that cuts with scissors is also identical; Realize the synchronous rotation of driving wheel and driven pulley thus, regulate the radial angle of video camera thus.
In the present embodiment, mechanical gyroscope is a prior art, and its concrete structure repeats no more at this.
The course of work of this camera system is:
Before the use, tripod head frame is installed on the unmanned plane, and adjusts camera position; In the unmanned plane during flying work; Gyroscope adopts the infrared imaging detection technique through driving wheel control camera lens angle, can carry out non-contact detecting to the equipment that is moving; Take the distribution in its temperature field, the temperature value at any position of measurement; In view of the above various outsides and internal fault are diagnosed, had in real time, advantages such as remote measurement, directly perceived and quantitative thermometric, the running device and the charging equipment that are used for detecting power plant, electric substation and transmission line are very convenient, effective.The infra-red heat scanning phase can be surveyed the heat spot of circuit, utilizes infrared thermoviewer that the lead splicing sleeve on the circuit, strain insulator pipe, jumper clamp, lead wire and earth wire wire clamp, gold utensil, stockbridge damper, insulator etc. are taken, and analyzes data, judges whether it is normal.Simultaneously; Through the influence to boat photography/videography machine shooting effect that the real-time modifying factor irregular movement of mechanical gyroscope causes, order shooting, shooting picture are no longer rocked the no deferred reaction time; Thereby make boat photography/videography organizational security hold relatively stable; Improve shooting quality, realize after unmanned plane changes angle because of flight, rectifying a deviation, can not break away from photographic subjects because of flight by gyroscope.
The operation principle of unmanned plane line walking control system is:
Pre-set line walking program before unmanned plane takes off; After taking off data are sent back ground station and monitor in real time,, then send signal through ground control system if any emergency situations by ground station; The receiving system of unmanned plane sends steering wheel to after receiving signal, controls unmanned plane with this.
The operation principle of the line walking circuit of the utility model:
According to three-dimensional inspection course line; Unmanned plane the fly inspection and the mode that combines of inspection of hovering are pressed the power circuit corridor when patrolling circuit, the self-contained navigation inspection of flying along the line; When arriving each power transformation tower that needs detailed inspection; Hover near electric tower to be checked, make infrared and the visible light camera zoom that rotates, stretches, electric tower to be checked is carried out detailed inspection through artificial assist control The Cloud Terrace; For carrying out detailed inspection from each angle; Nobody face operator over the horizon instruction of sending acceptably through data radio station; Automatically carry out hovering of variant angle position around electric tower to be checked; Accomplish the detection of electric tower terrestrial operation person after, continue self-navigation and fly to next electric tower to be checked along the line automatically; After the unmanned plane inspection is breasted the tape, forward the circuit opposite side to, patrol again one time, get back to the ground station position after finishing the work and land automatically to returning flight.
The Data Control principle:
Unmanned plane feeds back to ground control system by all flight attitudes of automated driving system record, data via wireless system for transmitting data in the line walking process; Simultaneously ground control system can be transferred to automated driving system with instruction through wireless system for transmitting data when finding that in monitor procedure Camcording system departs from preset track; Be conveyed to the The Cloud Terrace gyroscope by automated driving system, correct Camcording system.
Figure passes principle:
What unmanned plane carried takes the photograph take) the picture system is sent to the grounded receiving station with realtime graphic by image delivering system in the line walking process, and in the memory that simultaneously the picture equipment of being saved in is carried, the map receiving system is expressed picture through display.

Claims (3)

1. a unmanned plane transmission line boat is patrolled system; Be made up of unmanned plane, camera system, control system, camera system is packed on the unmanned plane, it is characterized in that: camera system is fixedly connected with unmanned plane through tripod head frame; Camera system comprises gyroscope part and camera part; Said gyroscope partly comprises mechanical gyroscope, tripod head frame, gyro frame, and said camera part comprises video camera, camera pedestal, video camera holder, and concrete structure is:
(1) gyroscope part: said gyro frame is made up of with the footpath inside casing and housing; Install mechanical gyroscope on the inside casing; All be connected diametrically between inside casing and the housing through rotating shaft; The housing both sides axially on all through central shaft installation tripod head frame, on the housing of corresponding inside casing one side rotating shaft, be extended with the output of outer shaft, be fixed with a driving wheel in the output end of this rotating shaft;
(2) camera part: the central shaft in the wherein axial side of tripod head frame stretches out tripod head frame; The coaxial camera pedestal that installs to open front in the end of this central shaft; In the frame of this camera pedestal, radially the video camera holder is installed through hinge; In this video camera holder with spigot shaft coaxle to installing video camera, on corresponding video camera holder one side camera pedestal, the end of the hinge of video camera holder installs a driven pulley;
(3) driven pulley of the driving wheel of the housing of gyroscope part and the video camera holder of camera part in the same way, radial symmetric is hinged with two Synchronous Transmission bars on the radially card of driving wheel, the other end of these two Synchronous Transmission bars cuts with scissors and is contained on the radially card of driven pulley.
2. unmanned plane transmission line boat according to claim 1 is patrolled system, and it is characterized in that: said two tripod head frame are closed-in construction, and the centre is provided with reinforcement.
3. unmanned plane transmission line boat according to claim 1 is patrolled system, it is characterized in that: said driving wheel and driven pulley are set to the footpath, and the position of two Synchronous Transmission bars of the dress that cuts with scissors is identical.
CN201120349320XU 2011-09-19 2011-09-19 UAV (unmanned aerial vehicle) aircraft patrol system for power transmission line Withdrawn - After Issue CN202197057U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102570345A (en) * 2011-09-19 2012-07-11 天津全华时代航天科技发展有限公司 UAV (unmanned aerial vehicle) transmission-line patrolling system
CN103630119A (en) * 2012-08-24 2014-03-12 董韬 Image motion compensation device and method for aerial survey of unmanned aerial vehicle
CN105866626A (en) * 2016-04-01 2016-08-17 湖北省超能超高压电力科技开发有限公司 Unmanned plane-mounted UV detection system for power transmission and transformation equipment
CN105910743A (en) * 2016-05-05 2016-08-31 郑州大学 Method for measuring tension of cable stayed bridge stay cable by using unmanned plane
CN106129890A (en) * 2016-06-23 2016-11-16 陈晨 A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane
CN106771856A (en) * 2016-11-30 2017-05-31 国网河南省电力公司滑县供电公司 Lightning strike point on electric power transmission line based on unmanned air vehicle technique determines method
CN109142982A (en) * 2018-09-28 2019-01-04 山东弘图电力科技有限公司 A kind of the testing lines device and its application method of line standardization design

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102570345A (en) * 2011-09-19 2012-07-11 天津全华时代航天科技发展有限公司 UAV (unmanned aerial vehicle) transmission-line patrolling system
CN102570345B (en) * 2011-09-19 2014-05-28 天津全华时代航天科技发展有限公司 UAV (unmanned aerial vehicle) transmission-line patrolling system
CN103630119A (en) * 2012-08-24 2014-03-12 董韬 Image motion compensation device and method for aerial survey of unmanned aerial vehicle
CN103630119B (en) * 2012-08-24 2015-12-16 董韬 A kind of aerial survey of unmanned aerial vehicle image motion compensation device and method
CN105866626A (en) * 2016-04-01 2016-08-17 湖北省超能超高压电力科技开发有限公司 Unmanned plane-mounted UV detection system for power transmission and transformation equipment
CN105910743A (en) * 2016-05-05 2016-08-31 郑州大学 Method for measuring tension of cable stayed bridge stay cable by using unmanned plane
CN106129890A (en) * 2016-06-23 2016-11-16 陈晨 A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane
CN106129890B (en) * 2016-06-23 2017-10-24 绍兴俪泰纺织科技有限公司 A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane
CN106771856A (en) * 2016-11-30 2017-05-31 国网河南省电力公司滑县供电公司 Lightning strike point on electric power transmission line based on unmanned air vehicle technique determines method
CN106771856B (en) * 2016-11-30 2020-01-03 国网河南省电力公司滑县供电公司 Electric power transmission line lightning stroke point determination method based on unmanned aerial vehicle technology
CN109142982A (en) * 2018-09-28 2019-01-04 山东弘图电力科技有限公司 A kind of the testing lines device and its application method of line standardization design
CN109142982B (en) * 2018-09-28 2020-11-06 山东弘图电力科技有限公司 Cable testing device of line sign standardized design

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Granted publication date: 20120418

Effective date of abandoning: 20140528