CN206125428U - Modern tram contact net inspection device based on unmanned aerial vehicle - Google Patents
Modern tram contact net inspection device based on unmanned aerial vehicle Download PDFInfo
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- CN206125428U CN206125428U CN201621098181.7U CN201621098181U CN206125428U CN 206125428 U CN206125428 U CN 206125428U CN 201621098181 U CN201621098181 U CN 201621098181U CN 206125428 U CN206125428 U CN 206125428U
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- contact net
- unmanned plane
- rotating shaft
- inspection device
- foreign body
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Abstract
The utility model is suitable for an unmanned air vehicle technique field provides a modern tram contact net inspection device based on unmanned aerial vehicle, including unmanned aerial vehicle and control terminal, unmanned aerial vehicle includes the control core board, unmanned aerial vehicle still includes data acquisition module, control terminal is including controlling the flight module, comparing the module, control flight module for control unmanned aerial vehicle follow the flight of tram contact net, data acquisition module is used for utilizing the data acquisition device that unmanned aerial vehicle carried on carries out image data acquisition, and will image data passes through control core board real time transport arrives the control terminal on ground, compare the module, be used for with image data and the tram contact net image data who prestores compare to report to the police when the discovery is unusual. The utility model provides an inspection device has realized patrolling and examining the intellectuality of operation to modern tram contact net, has practiced thrift manpower and materials, has improved work efficiency, guarantee tram operation safety.
Description
Technical field
This utility model belongs to unmanned air vehicle technique field, more particularly to a kind of modern tram based on unmanned plane is contacted
Net inspection device.
Background technology
At present unmanned air vehicle technique is popular for research application both at home and abroad, and its field is related to the technology of patrolling and examining, waterproof technique, skill of taking photo by plane
The many aspects such as art, but not yet carry out related application in track transportation industry.Simultaneously modern tram is walked in city line,
Circuit periphery house stands in great numbers, the debris such as medicated clothing waft to tramcar contact net contingency occurrence probability greatly, easily cause to stop
Fortune accident.For modern tram contact net foreign body hanging wire Frequent Accidents phenomenon, existing solution is mostly by artificial inspection
Contact net and artificial cleaning debris are looked into, this method has many drawbacks：On the one hand this method can cause the pole of manpower and materials
It is big to waste, another aspect the method very flexible, it is impossible to find the failure of contact net in time.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of modern tram based on unmanned plane to contact
Net inspection device, it is intended to which the intellectuality of operation is patrolled and examined modern tram contact net in realization.
This utility model provides a kind of modern tram contact net inspection device based on unmanned plane, including unmanned plane
And control terminal, the unmanned plane include control core plate, the unmanned plane also include data acquisition module；The control terminal
Including control flight module, comparing module；
The control flight module, flies for controlling unmanned plane along the tramcar contact net；
The data acquisition module, adopts for carrying out view data using the data acquisition unit of the UAV flight
Collection, and described image data are real-time transmitted to into the control terminal on ground by the control core plate；
The comparing module, for described image data to be compared with the tramcar contact net view data for prestoring
It is right, and when noting abnormalities, reported to the police.
Further, the data acquisition unit includes connecting rod and photographic head, and the bottom of the unmanned plane is by connection
Bar carries the photographic head, and described connecting rod one end is fixed on the bottom centre of the unmanned plane, and the other end connects the shooting
Head simultaneously is used to drive the photographic head to rotate.
Further, the unmanned plane also includes：Foreign body cleaning modul, for because find foreign body hanging wire report to the police when,
Determine foreign body position by the described image data of real-time Transmission in the control terminal, and manipulate the unmanned plane near different
Thing, the foreign body cleaning plant carried using unmanned motor spindle is cleared up foreign body.
Further, the foreign body cleaning plant includes mutual spacing and the left side arranged in fixed plate and the fixed plate
Right symmetrical placement unit, the placement unit include the first motor, runner, flexible connecting rod, fold up connecting rod, mechanical arm,
First rotating shaft, the second rotating shaft, the 3rd rotating shaft and the 4th rotating shaft；
First motor is connected with the runner, and described flexible connecting rod one end passes through first rotating shaft with described turn
Wheel is fixedly connected, and the other end is by the second rotating shaft and the mechanical arm pivot joint；The described connecting rod one end that folds up is by the 3rd rotating shaft
With the fixed plate pivot joint, the other end is by the 4th rotating shaft and the mechanical arm pivot joint.
Further, the placement unit also include the second motor, driver pinion, tooth bar, rotation pinion, hook and
5th rotating shaft；
Second motor is connected with the driver pinion, and the driver pinion is enclosed within second rotating shaft
On, the rotation pinion by the 5th rotating shaft and the mechanical arm pivot joint, the top and bottom of the tooth bar respectively with it is described
Driver pinion and the rotation pinion are engaged, and the hook is fixed with the rotation pinion.
Further, the hook overlaps with the centrage of the mechanical arm, and the rotation pinion can drive the hook
Son rotates in the range of 0 ° to 45 °.
Further, the runner is gear.
Compared with prior art, beneficial effect is this utility model：One kind that this utility model is provided is based on unmanned plane
Modern tram contact net inspection device, using on unmanned plane carry photographic head modern tram contact net is carried out
Image data acquiring, and whether the view data of collection and normal image data are carried out into contrast different to judge the contact net
Often, abnormal alarm is being judged；The intellectuality for patrolling and examining modern tram contact net operation is realized, manpower thing has been saved
Power, improves work efficiency, ensures tramcar operation security；Further, when finding that contact net has foreign body, nothing can be operated
The man-machine foreign body cleaning plant carried by fuselage is cleared up on the spot, improves accident treatment efficiency, reduces operation cost.
Description of the drawings
Fig. 1 is the unmanned plane being related in the modern tram contact net inspection device that this utility model embodiment is provided
Structural representation；
Fig. 2 is the schematic diagram of the data acquisition unit carried on unmanned plane shown in Fig. 1；
Fig. 3 is a kind of modern tram contact net inspection device based on unmanned plane that this utility model embodiment is provided
Schematic diagram；
Fig. 4 is a kind of modern tram contact net inspection device based on unmanned plane that this utility model embodiment is provided
In foreign body cleaning plant structural representation.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
It is of the present utility model mainly to realize that thought is：A kind of modern rail electricity based on unmanned plane that this utility model is provided
Car contact net inspection device, control terminal control unmanned plane flies along the tramcar contact net, and unmanned plane is taken using bottom
Carrying data acquisition unit carries out image data acquiring to modern tram contact net, and described image real-time data transmission is given
, to compare with normal contact net view data, and there is broken string or foreign body hanging wire on contact net is identified in control terminal
During Deng abnormal phenomena, warning reminding is carried out.Further, when finding to there is foreign body hanging wire failure on tramcar contact net,
Foreign body position and hanging wire state are observed by the described image data of real-time Transmission, and operates unmanned plane near foreign body, controlled different
Thing cleaning plant carries out excision prune job to foreign body.
Wherein, the unmanned plane selects military project level unmanned plane, and its flight speed is fast, and stability is high, can be severe in strong wind etc.
Weather normal work, load is high, can carry out prune job to heavier debris.
The unmanned plane includes flight component 1, and the data acquisition unit 3 and foreign body cleaning plant of unmanned motor spindle carrying
2, with reference to shown in Fig. 1 to Fig. 2.
Wherein, as shown in figure 1, the flight component 1 of unmanned plane includes control core plate 11, the horn 12, machine with rotation oar
Frame 13, control terminal by wireless network carry out telecommunication with the control core plate 11 control unmanned plane flight and
Other actions；Horn 12 carries power set of the rotation oar for unmanned plane, realizes the taking off, land of unmanned plane, horizontal movement and rotation
Transport dynamic etc.；Frame 13 is unmanned plane bogey.
As shown in Fig. 2 the data acquisition unit 3 includes connecting rod 31 and photographic head 32, the unmanned plane is by connection
Bar 31 carries the photographic head 32；The one end of the connecting rod 31 is fixed on the unmanned plane bottom centre, and other end connection is described
Photographic head 32 simultaneously for driving the photographic head 32 to rotate, can upper and lower 45 °, 45 ° of left and right rotated；Also, the photographic head
32 are extended out by connecting rod 31, it is to avoid blocked by foreign body cleaning plant 2.
The foreign body cleaning plant 2 is arranged between unmanned aerial vehicle body and the data acquisition unit 3, convenient to coordinate shooting
32 visual angles carry out foreign body cleaning.
Lower mask body introduces this modern tram contact net inspection device based on unmanned plane, as shown in figure 3, including
Unmanned plane and control terminal, the unmanned plane includes control core plate, and the unmanned plane also includes data acquisition module 2 and foreign body
Cleaning modul 4；The control terminal includes control flight module 1, comparing module 3；
The control flight module 1, flies for controlling unmanned plane along the tramcar contact net；
Specifically, in control terminal, carry out telecommunication with the control core plate to realize control by wireless network
Unmanned plane flies along the tramcar contact net.
The data acquisition module 2, adopts for carrying out view data using the data acquisition unit of the UAV flight
Collection, and described image data are real-time transmitted to into the control terminal on ground by the control core plate；
Specifically, modern tram contact net along the line is taken photo by plane using the photographic head of UAV flight, and will boat
The view data for photographing is transferred to the control terminal on ground.
The comparing module 3, for described image data to be compared with the tramcar contact net view data for prestoring
It is right, and when noting abnormalities, reported to the police.
Specifically, the exception includes whether there is broken string or foreign body hanging wire etc..
The foreign body cleaning modul 4, for when reporting to the police because finding foreign body hanging wire, in the control terminal by real-time
The described image data of transmission determine foreign body position, and manipulate the unmanned plane near foreign body, are carried using unmanned motor spindle
Foreign body cleaning plant is cleared up foreign body.
As shown in figure 4, the foreign body cleaning plant 2 includes：What is arranged in fixed plate 21 and the fixed plate 21 is mutual
Away from and symmetrical placement unit, the placement unit includes the first motor (not shown), runner 22, flexible connection
Bar 23, fold up connecting rod 24, mechanical arm 25, the second motor (not shown), driver pinion 26, tooth bar 27, rotate little tooth
Wheel 28, hook 29, first rotating shaft (not marking in figure), the second rotating shaft (not marking in figure), the 3rd rotating shaft (not marking in figure), the
Four rotating shafts (not marking in figure) and the 5th rotating shaft (not marking in figure).
Specifically, first motor is connected with the runner 22, and described one end of flexible connecting rod 23 passes through first
Rotating shaft is fixedly connected with the runner 22, and the other end is by the second rotating shaft and the pivot joint of the mechanical arm 25；It is described to fold up connecting rod
By the 3rd rotating shaft and the pivot joint of the fixed plate 21, the other end is by the 4th rotating shaft and the pivot joint of the mechanical arm 25 for 24 one end.Institute
State the second motor to be connected with the driver pinion 26, the driver pinion 26 is enclosed within second rotating shaft, described
Rotation pinion 28 by the 5th rotating shaft and the pivot joint of the mechanical arm 25, the top and bottom of the tooth bar 27 respectively with the master
Dynamic little gear 26 and the rotation pinion 28 are engaged, and the hook 29 is fixed with the rotation pinion 28.
Specifically, the runner 22 is gear.
Specifically, the hook 29 overlaps with the centrage of the mechanical arm 25, and the rotation pinion 28 can drive institute
State hook 29 to rotate in the range of 0 ° to 45 °.
Specifically, the operation principle of the foreign body cleaning plant is：First motor drives the runner 22 to rotate, and makes
The flexible connecting rod 23 is rotated, so as to drive the stretching motion of the mechanical arm 25, meanwhile, it is described fold up connecting rod 24 motion make
The mechanical arm 25 produces folder and puts two kinds of actions；Second motor drives the driver pinion 26 to rotate, so as to drive
Tooth bar 27 is upwardly or downwardly moved, and then drives drive pinion 28 to rotate, and makes hook 29 produce the rotation of maximum 45° angle.
When finding to there is foreign body hanging wire failure on modern tram contact net, unmanned plane is grasped by control terminal
Control, controls first unmanned plane during flying and simultaneously hovers over foreign body top, the first motor subsequent in control foreign body cleaning plant, second electric
Machine works, so that make mechanical arm 25 clamp foreign body, also, hook 29 turns to close further hook tight foreign body by opening, and realizes foreign body
Crawl and cleaning.
This utility model provides a kind of modern tram contact net inspection device based on unmanned plane, and the device is abundant
The advantage that make use of unmanned plane quick response, air mobile flexibly not to be affected by road traffic congestion, with unmanned plane as platform, with
Tramcar contact net image processing techniquess are core, by the cruise path for setting unmanned plane, modern tram are contacted
Net is fast and efficiently patrolled and examined operation；And build normal contact net road safety assessment model, by image transmission technology and
Computer model is contrasted；Check whether contact net there are the accidents such as debris hanging wire or broken string, such as note abnormalities, then report immediately
It is alert, and fast reaction is made, control unmanned plane carries out foreign body cleaning or sends staff to carry out catenary maintenance to contact net
Process.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit this utility model
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (7)
1. a kind of modern tram contact net inspection device based on unmanned plane, it is characterised in that including unmanned plane and control
Terminal, the unmanned plane includes control core plate, and the unmanned plane also includes data acquisition module；The control terminal includes control
Flight module processed, comparing module；
The control flight module, flies for controlling unmanned plane along the tramcar contact net；
The data acquisition module, for carrying out image data acquiring using the data acquisition unit of the UAV flight, and
Described image data are real-time transmitted to into the control terminal on ground by the control core plate；
The comparing module, for described image data to be compared with the tramcar contact net view data for prestoring, and
When noting abnormalities, reported to the police.
2. modern tram contact net inspection device as claimed in claim 1, it is characterised in that the data acquisition unit
Including connecting rod and photographic head, the photographic head is carried in the bottom of the unmanned plane by connecting rod, and described connecting rod one end is consolidated
The bottom centre of the unmanned plane is scheduled on, the other end connects the photographic head and for driving the photographic head to rotate.
3. modern tram contact net inspection device as claimed in claim 1, it is characterised in that the unmanned plane is also wrapped
Include：Foreign body cleaning modul, for when reporting to the police because finding foreign body hanging wire, in the control terminal by described in real-time Transmission
View data determines foreign body position, and manipulates the unmanned plane near foreign body, the foreign body cleaning dress carried using unmanned motor spindle
Put and foreign body is cleared up.
4. modern tram contact net inspection device as claimed in claim 3, it is characterised in that the foreign body cleaning plant
Including the mutual spacing and symmetrical placement unit that arrange in fixed plate and the fixed plate, the placement unit includes
First motor, runner, flexible connecting rod, fold up connecting rod, mechanical arm, first rotating shaft, the second rotating shaft, the 3rd rotating shaft and the 4th turn
Axle；
First motor is connected with the runner, and described flexible connecting rod one end is solid with the runner by first rotating shaft
Fixed connection, the other end is by the second rotating shaft and the mechanical arm pivot joint；The described connecting rod one end that folds up is by the 3rd rotating shaft and institute
Fixed plate pivot joint is stated, the other end is by the 4th rotating shaft and the mechanical arm pivot joint.
5. modern tram contact net inspection device as claimed in claim 4, it is characterised in that the placement unit is also wrapped
Include the second motor, driver pinion, tooth bar, rotation pinion, hook and the 5th rotating shaft；
Second motor is connected with the driver pinion, and the driver pinion is enclosed within second rotating shaft, institute
Rotation pinion is stated by the 5th rotating shaft and the mechanical arm pivot joint, the top and bottom of the tooth bar are little with the active respectively
Gear and the rotation pinion are engaged, and the hook is fixed with the rotation pinion.
6. modern tram contact net inspection device as claimed in claim 5, it is characterised in that the hook and the machine
The centrage of tool arm overlaps, and the rotation pinion can drive the hook to rotate in the range of 0 ° to 45 °.
7. modern tram contact net inspection device as claimed in claim 4, it is characterised in that the runner is gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621098181.7U CN206125428U (en) | 2016-09-29 | 2016-09-29 | Modern tram contact net inspection device based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621098181.7U CN206125428U (en) | 2016-09-29 | 2016-09-29 | Modern tram contact net inspection device based on unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN206125428U true CN206125428U (en) | 2017-04-26 |
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ID=58571649
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621098181.7U Active CN206125428U (en) | 2016-09-29 | 2016-09-29 | Modern tram contact net inspection device based on unmanned aerial vehicle |
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| CN (1) | CN206125428U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379535A (en) * | 2016-09-29 | 2017-02-08 | 深圳大学 | Modern tram overhead contact system inspecting method and device based on unmanned aerial vehicle |
-
2016
- 2016-09-29 CN CN201621098181.7U patent/CN206125428U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379535A (en) * | 2016-09-29 | 2017-02-08 | 深圳大学 | Modern tram overhead contact system inspecting method and device based on unmanned aerial vehicle |
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