CN202995461U - Wireless remote control overhead line routing inspection aircraft - Google Patents
Wireless remote control overhead line routing inspection aircraft Download PDFInfo
- Publication number
- CN202995461U CN202995461U CN 201220588987 CN201220588987U CN202995461U CN 202995461 U CN202995461 U CN 202995461U CN 201220588987 CN201220588987 CN 201220588987 CN 201220588987 U CN201220588987 U CN 201220588987U CN 202995461 U CN202995461 U CN 202995461U
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- remote control
- overhead line
- control circuit
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- inspection aircraft
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- 238000007689 inspection Methods 0.000 title claims abstract description 17
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- 238000012423 maintenance Methods 0.000 abstract description 2
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- 206010057855 Hypotelorism of orbit Diseases 0.000 description 2
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Abstract
The utility model discloses a wireless remote control overhead line routing inspection aircraft, and relates to electric overhead line maintenance equipment. The routing inspection aircraft comprises a rotor craft which mainly consists of a wireless remote control circuit, a flight control circuit, a bracket and a rotor, wherein a wireless transmission shooting device is arranged above the rotor craft. The routing inspection aircraft has the characteristics of simple control, convenient operation, strong flexibility and the like, and in overhead line routing inspection, the routing inspection aircraft can release workers from busy and dangerous working environment and greatly improve working efficiency.
Description
Technical field
The utility model relates to power overhead network maintenance of equipment technical field.
Background technology
Be the prevention line tripping, power industry has strengthened the working dynamics of line walking in recent years.But in line walking work, often have the line walking people to can't see the porcelain vase top on ground, and climb up the bar inspection to maintainer's the safety situation such as threaten, moreover after rain, the farmland is muddy is not easy to arrive the bar position.
The utility model content
The technical problems to be solved in the utility model is to provide a kind of wireless remote control overhead line inspection aircraft, it has controls that simple, convenient operation, dirigibility are strong, the accuracy high, use it to carry out overhead line inspection, the staff is freed in the middle of heavy and dangerous working environment, and can greatly increase work efficiency.
For solving the problems of the technologies described above, technical solution adopted in the utility model is: it comprises mainly the rotor craft that is comprised of radio remote control circuit and flight control circuit, support, rotor, and the wireless transmission filming apparatus is installed above rotor craft.
The utility model further improves and is: radio remote control circuit and flight control circuit comprise remote controller signal acquisition module, output control module, GPS navigation module, ultrasonic distance measuring module, increase steady module, data memory module and CPU processor; Rotor craft is quadrotor; The wireless transmission filming apparatus is the wireless transmission video camera, is positioned at quadrotor top centre of gravity place; Radio remote control circuit and the flight control circuit outside of patrolling and examining aircraft are provided with the metal electric magnetic masking layer; This flying height of patrolling and examining aircraft is for above overhead transmission line, apart from overhead transmission line 4～6m; The wireless transmission video camera is 27 times of zoom all-in-ones of all peaces; High definition 480 lines.
the beneficial effect that adopts technique scheme to produce is: quadrotor is not applied to the example of electric power line walking aspect at present, the line walking machine is with GPS function and data storage module, and GPS can make the line walking machine fix a point to take aloft, data memory module can the record-setting flight route, at line walking machine and ground remote control device when out of touch, can be at once automatically by the former route starting point that flies back, the line walking machine carries 20 times of zoom cameras and a ultrasonic distance measuring module, camera zoom multiple can be controlled by telepilot in ground, transmit in the real-time reception display that is presented at ground by signal, not only video can be transmitted but also the photograph of high-resolution can be sent, can make the line walking device just can clearly see the circuit situation clearly in left and right, 5 meters, road of off-line, make the pipeline rider very clear to the situation of circuit, thereby line walking machine and circuit are kept a safe distance, ultrasonic distance measuring module can Real Time Monitoring line walking machine and circuit distance, and the radio remote control circuit of patrol flight device and flight control circuit outside are provided with the metal electric magnetic masking layer, avoid because of hypotelorism, circuit produces magnetic field the line walking machine is impacted, therefore, use it to carry out overhead line inspection, safe and reliable, accuracy is high, the staff is freed in the middle of heavy and dangerous working environment, and can greatly increase work efficiency.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the utility model control circuit module frame chart.
In the accompanying drawings: 1, support; 2, rotor; 3, wireless transmission filming apparatus.
Embodiment
By the embodiment shown in Fig. 1-2 as can be known, it comprises mainly the rotor craft that is comprised of radio remote control circuit and flight control circuit, support 1, rotor 2, and wireless transmission filming apparatus 3 is installed above rotor craft; Radio remote control circuit and flight control circuit comprise remote controller signal acquisition module, output control module, GPS navigation module, ultrasonic distance measuring module, increase steady module, data memory module and CPU processor; Rotor craft is quadrotor; Wireless transmission filming apparatus 3 is the wireless transmission video camera, is positioned at quadrotor top centre of gravity place; The radio remote control circuit of patrol flight device and flight control circuit outside are provided with the metal electric magnetic masking layer; This flying height of patrolling and examining aircraft is for above overhead transmission line, apart from overhead transmission line 4～6m; The wireless transmission video camera is 27 times of zoom all-in-ones of all peaces; High definition 480 lines.
The below introduces the concrete function of modules.
1, remote controller signal acquisition module is fixed the receiver of a telepilot on the line walking machine, be used for receiving the control signal of telepilot and converting thereof into the PWM ripple.The DSP that the utility model is selected has special eCAP trapping module, the signal of receiver is directly drawn with the corresponding pin of eCAP module be connected, and the eCAP module of configuration DSP is the rising edge negative edge of acquisition pulse again of first acquisition pulse, after negative edge occurs, utilize the value of counter just can obtain the cycle of the PWM of receiver, then processor just can be known according to the size in cycle ground controller's control purpose, determines the moving flight of line walking tractor driver control signal.
2, output control module, the line walking machine drive the rotation of corresponding rudder by the rotation of each steering wheel, thereby change the state of flight of aircraft, and the rotation of steering wheel is by the PWM Waveform Control.The DSP that the utility model is selected has 6 ePWM modules, can export at most 12 tunnel pwm signals independently, is enough to satisfy the demand of controlling.The concrete setting is exactly at first corresponding pinout to be become the functional pin of PWM, then the register of this module is set according to the requirement of controlling, the wherein setting of setting, period register and the comparand register of the important register that control action is arranged, the value of comparand register is to obtain by series of computation.Because the driving force of dsp interface is limited, the utility model uses a power amplification chip to improve the driving force of DSP, and the control signal of output is controlled the rotating speed of screw propeller and the deflection of The Cloud Terrace.How the driving chip that the utility model is selected can drive 16 road signals if being done, therefore, additionally increase again by 4 tunnel common I/O on the basis of 12 road pwm signals outputs that this module is produced, in order to Function Extension.
3, GPS navigation module, GPS and processor are to communicate by serial ports SCI, because the level of the serial communication of single-chip microcomputer and the serial line interface of DSP are complementary, therefore can directly be connected, and needn't be through the level conversion of serial ports.The data transmission format of single-chip microcomputer and GPS in the utility model, we select the UBX agreement.The general flow process of its communication is as follows: the corresponding pin that at first single-chip microcomputer is set is serial ports SCI function, then set the corresponding register of processor the inside according to the communication protocol of selecting, wherein according to the baud rate of the serial ports of the good processor of Configuration of baud rate of GPS acquiescence, then the initialized order of needs is sent in GPS, we can revise according to these orders the data content of the baud rate of GPS, the mode of operation of setting GPS and needs output.Revise the baud rate of GPS as need, after modification is completed, also will further will revise the baud rate of the serial ports of processor, make it to equate in the baud rate of the GPS of new settings.For example will receive the data of four bags of GPS, then each first disposable this four bags that receive draw the specifically data of which bag according to packet header, and then the data inside bag are extracted.
4, ultrasonic distance measuring module, the ultrasonic measurement module that this module adopts have output in two, and one is output PWM, and another is that output is exactly to export by SCI.The design just directly adopts the PWM pattern, the acquisition principle of its data and remote controller signal the same, and then the data that collect of basis just can obtain the distance of line walking machine and circuit.
5, increase steady module, this module increases the stability of line walking machine by gyroscope, particularly when the wind line walking is arranged, can effectively increase flight stability and the security of line walking machine by increasing steady module.
6, data memory module, mainly that the destination information recording/ in flight course, aircraft flight crossed is in storer, then make aircraft and operating personnel out of touch the time having with external disturbance, can call the destination information of having stored through aircraft after a while, and utilize these information to make a return voyage.
7, camera module, the focusing of video camera: the focal length of the video camera of this equipment choosing can be regulated by the focal length knob, and the T on the focal length knob and W are representing respectively the degree of depth and the scope of subject.Knob is pushed into T side, and focal length can shorten, and can further and amplify the scenery in a distant place.As knob is pushed into W side, focal length can be elongated, and the scope of shooting also can enlarge.In order clearly to understand more comprehensively the situation of circuit, should take many group photos in each shooting point, should be with same angle shot, this can adjust by controlling The Cloud Terrace; Take several photo with different focal lengths on an angle again, this just needs automatically to adjust the focal length of video camera more.The video camera that the utility model is selected is focused by knob, and then the rotation of the PWM Waveform Control steering wheel that is produced by DSP is driven the rotation of video camera knob by the rotation of steering wheel, so just can take pictures under different focal lengths.
It is with the GPS function, and for security, the stability that guarantees to fly has increased ultrasonic distance measuring module and increased steady module, and at telepilot and aircraft when out of touch, aircraft can make a return voyage by former flight path automatically.It is subsidiary be 20 times of zoom cameras can be on the off-line road place of 5 meters take, avoided aircraft to clash into the generation of the danger of circuit.
The utility model can be avoided line walking machine and circuit hypotelorism, and maloperation can also be avoided running into intense electromagnetic and disturb when making the line walking machine lose telepilot control the circuit injury, and the line walking machine is to the circuit injury.
Claims (6)
1. wireless remote control overhead line inspection aircraft, it is characterized in that: it comprises mainly the rotor craft that is comprised of radio remote control circuit and flight control circuit, support (1), rotor (2), and wireless transmission filming apparatus (3) is installed above described rotor craft.
2. a kind of wireless remote control overhead line inspection aircraft according to claim 1, is characterized in that described radio remote control circuit and flight control circuit comprise remote controller signal acquisition module, output control module, GPS navigation module, ultrasonic distance measuring module, increase steady module, data memory module and CPU processor.
3. a kind of wireless remote control overhead line inspection aircraft according to claim 1, is characterized in that described rotor craft is quadrotor.
4. a kind of wireless remote control overhead line inspection aircraft according to claim 1, is characterized in that described wireless transmission filming apparatus (3) is the wireless transmission video camera, is positioned at rotor craft top centre of gravity place.
5. a kind of wireless remote control overhead line inspection aircraft according to claim 4, is characterized in that described wireless transmission video camera is 27 times of zoom all-in-ones of all peaces, high definition 480 lines.
6. a kind of wireless remote control overhead line inspection aircraft according to claim 1 is characterized in that described radio remote control circuit of patrolling and examining aircraft and flight control circuit outside are provided with the metal electric magnetic masking layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220588987 CN202995461U (en) | 2012-11-09 | 2012-11-09 | Wireless remote control overhead line routing inspection aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220588987 CN202995461U (en) | 2012-11-09 | 2012-11-09 | Wireless remote control overhead line routing inspection aircraft |
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| CN202995461U true CN202995461U (en) | 2013-06-12 |
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| CN 201220588987 Expired - Fee Related CN202995461U (en) | 2012-11-09 | 2012-11-09 | Wireless remote control overhead line routing inspection aircraft |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102999049A (en) * | 2012-11-09 | 2013-03-27 | 国家电网公司 | Remote control polling aircraft for overhead lines |
| CN103814887A (en) * | 2014-01-23 | 2014-05-28 | 北京飞旋天行科技有限公司 | Flight bird repellent and flight bird repelling system |
| CN103869819A (en) * | 2014-03-10 | 2014-06-18 | 中国矿业大学 | Belt conveyor automatic inspection system and method based on multi-rotor unmanned aerial vehicle |
| CN104571140A (en) * | 2014-11-20 | 2015-04-29 | 中国建材检验认证集团股份有限公司 | Photovoltaic module routing inspection photographing control system |
| CN104682267A (en) * | 2015-03-26 | 2015-06-03 | 国家电网公司 | Power transmission line fault removal device based on multi-axle air vehicle |
| CN106471358A (en) * | 2014-04-22 | 2017-03-01 | 高空遥控器股份有限公司 | The fault detection detection system of solar panel |
| CN107045806A (en) * | 2017-05-04 | 2017-08-15 | 安徽工程大学 | A kind of many rotor traffic inspection aircraft |
| CN110471449A (en) * | 2019-08-28 | 2019-11-19 | 华东师范大学 | A kind of unmanned plane detecting electric power cable failure |
-
2012
- 2012-11-09 CN CN 201220588987 patent/CN202995461U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102999049A (en) * | 2012-11-09 | 2013-03-27 | 国家电网公司 | Remote control polling aircraft for overhead lines |
| CN103814887A (en) * | 2014-01-23 | 2014-05-28 | 北京飞旋天行科技有限公司 | Flight bird repellent and flight bird repelling system |
| CN103814887B (en) * | 2014-01-23 | 2016-01-27 | 北京飞旋天行科技有限公司 | A kind of flight bird-scaring unit and flight bird-repeller system |
| CN103869819A (en) * | 2014-03-10 | 2014-06-18 | 中国矿业大学 | Belt conveyor automatic inspection system and method based on multi-rotor unmanned aerial vehicle |
| CN106471358A (en) * | 2014-04-22 | 2017-03-01 | 高空遥控器股份有限公司 | The fault detection detection system of solar panel |
| CN104571140A (en) * | 2014-11-20 | 2015-04-29 | 中国建材检验认证集团股份有限公司 | Photovoltaic module routing inspection photographing control system |
| CN104571140B (en) * | 2014-11-20 | 2017-10-27 | 中国建材检验认证集团股份有限公司 | A kind of photovoltaic module inspection is taken pictures control system |
| CN104682267A (en) * | 2015-03-26 | 2015-06-03 | 国家电网公司 | Power transmission line fault removal device based on multi-axle air vehicle |
| CN107045806A (en) * | 2017-05-04 | 2017-08-15 | 安徽工程大学 | A kind of many rotor traffic inspection aircraft |
| CN110471449A (en) * | 2019-08-28 | 2019-11-19 | 华东师范大学 | A kind of unmanned plane detecting electric power cable failure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20161109 |