CN206480981U - A kind of intelligent electric power line walking equipment - Google Patents

Abstract

The utility model relates to the technical field of electric power line inspection, and is an intelligent electric power line inspection device and method provided for the low efficiency of existing circuit line inspection and the inability to realize long-distance high-precision line inspection. Including the UAV and the battery that supplies power to the UAV. The UAV is connected with: a line-riding gliding device, a laser radar, a tower pole automatic identification module, and a decision-making control module. When the laser radar detects a power line, the decision-making control module controls The drone rides on the power line; when the tower pole automatic identification module detects the tower pole during the drone ride, the decision-making control module controls the drone to fly over the tower pole. The utility model adopts sliding on a line, which improves the battery life of the UAV, avoids frequent ups and downs of the UAV, reduces the labor load of personnel, improves the efficiency of line inspection, and is more suitable for large-scale line inspection tasks; Wind resistance.

Description

An intelligent power line inspection device

technical field

The utility model belongs to the technical field of electric power line inspection, in particular to an intelligent electric power line inspection device.

Background technique

With the continuous improvement of power transmission requirements and higher power transmission levels, high-voltage/ultra-high-voltage line inspection and maintenance work is particularly important for the safety, stability and efficiency of the power grid system. The areas where transmission lines are located are mostly in the wild with harsh natural environments and traffic congestion. Power lines are affected by mechanical tension, lightning strikes, temperature changes, and rainy and snowy weather for a long time in the natural environment, and are prone to tower tilt, line breakage, aging, and corrosion. Insulators on power line towers are also prone to damage in the natural environment, and the growth of trees around the power line requires inspection of the power line. The traditional manual inspection method uses visual inspection, which has problems such as low efficiency, high labor intensity, and low inspection accuracy. In addition, in some line inspection tasks, personnel cannot reach it, which greatly limits the efficiency and effectiveness of manual inspection. The emergence of the UAV airborne lidar system has improved the efficiency and application scenarios of power line inspection to a certain extent. However, the UAV has a short battery life and low trajectory flight accuracy, which makes it impossible to achieve long-distance and high-precision flight. Therefore, it is urgent to develop a long-distance, high-precision line-following device.

Utility model content

The purpose of the utility model is to provide an intelligent power line inspection device for the low efficiency of the existing circuit inspection and the inability to realize long-distance and high-precision inspection.

In order to achieve the above object, the technical scheme that the utility model takes is:

An intelligent power line inspection device, including a drone and a battery for powering the drone, connected to the drone:

Rides on wires, devices that can slide or roll on high-voltage power lines;

LiDAR, used to scan data and detect the position of the power line, so that the line riding device can be accurately hung on the power line;

The tower pole automatic recognition module is used to identify the tower pole, and when it encounters a pole tower, it controls the UAV to fly over the tower pole;

Decision-making control module, used to control the flight status of the UAV;

When the lidar detects the power line, the decision-making control module controls the drone to ride on the power line; when the tower pole automatic identification module detects the tower pole during the drone ride, the decision-making control module controls the drone to fly over the tower pole.

The wire gliding device includes at least one pulley, a support rod supporting the pulley, and a connecting rod connecting the support rod with the UAV, and a chute for the power line to be inserted is provided at the middle position of the pulley in the circumferential direction.

The support rods are arranged at the lower part of the pulleys to support the entire drone, and each pulley is provided with support rods on both sides, and the total number of support rods is not less than three, and the support rods on both sides of the pulleys are at least There is a connecting rod connecting it with the drone.

The tower rod automatic identification module includes an image acquisition module and a laser ranging module, the image acquisition module includes 4 image sensors, the image acquisition module identifies the power line tower rod, and the laser ranging module measures the current flight position and the power line tower distance between bars.

The decision-making control module realizes the power line point cloud data extraction by collecting the laser scanner data in the laser radar system in real time, and realizes the relative relationship between the current flight position and the power line position through the power line point cloud extraction, and calculates the aircraft route by referring to the relative position relationship Carry out real-time dynamic planning, and control the aircraft to reach the designated landing point through the flight control system to realize the flight on the line.

The image acquisition module includes 4 cameras, which are respectively facing directly below, 30° to the left of the directly below, 30° to the right of directly below, and directly ahead.

Beneficial effects of the utility model: the utility model adopts sliding on a line, which improves the battery life of the drone, avoids frequent ups and downs of the drone, reduces the labor load of personnel, improves the efficiency of line inspection, and is more suitable for large-scale line inspection Task operation; the way of riding a line improves the wind resistance of the equipment and improves the environmental adaptability of the equipment; independently crosses obstacles such as tower poles on the high-voltage line, and has the function of autonomous obstacle detection; reduces the shaking of the carrying platform, near Distance line tracking helps to improve line tracking accuracy.

Description of drawings

Fig. 1 is a system composition block diagram of the present utility model;

Fig. 2 is the overall schematic diagram of the utility model;

Fig. 3 is a structural schematic diagram of a riding-by-wire sliding device;

Figure 4 is a schematic diagram of the working process of the device.

detailed description

Below in conjunction with embodiment the utility model is described further.

Example

The intelligent line inspection device 1 shown in Figure 1 includes a UAV 100 (the specific structure of the UAV is a mature technology in the market, so I will not elaborate here, and of course there is a remote control device supporting the UAV. This will not be described in detail), the line riding device 210, the laser radar 220, the tower detection device 230 and the decision-making control module 240, the laser radar 220, the tower detection device 230 and the power supply battery 250 are located at the lower part of the drone , the laser radar 220 and the tower detection device 230 are fixed on one side of the lower end of the drone, and the power supply battery 250 is fixed on the other side of the lower end of the drone. The utility model combines laser radar technology, line patrol robot technology and UAV technology, uses laser radar 220 to detect power lines in real time and predicts the trend of the line, uses UAV 100 to drag the line riding gliding device 210 to slide along the line; tower pole detection device 230 Automatically detect the power line tower pole, when the line inspection equipment is close to the power line, the UAV 100 climbs to the specified height, drives the mounted equipment to fly over the tower pole, and takes pictures directly above the tower pole; the decision-making control module 240 completes the laser radar 220, tower pole The data collection, analysis and decision-making of the detection device 230 realizes the workflow control of the whole system. The laser radar 220 includes a laser scanner 221 and a multi-camera 222, and the multi-camera 222 completes image acquisition from multiple angles. The tower detection device 230 includes a forward camera 231 and a laser rangefinder 232 facing the forward direction of the UAV 100. The forward camera 231 is used to capture the power line tower and determine its orientation. The laser rangefinder is used to The distance between the line inspection equipment and the tower is measured, and the data output by the tower detection device 230 is used as the basis for the decision-making control module 240 to control the line inspection equipment to take off and land. The decision-making control module 240 is the core part of the whole set of equipment. Its main functions include laser radar 220 data collection and processing, tower automatic detection device 230 data collection and processing to realize obstacle detection 242 , sending out flight instructions 241 and process control 243 .

As shown in Figures 2 and 3, the UAV 100 adopts an eight-rotor structure and has the characteristics of a large load; the UAV 100 and the wire riding device 210 are rigidly connected by a support rod 101 and a connecting rod. The lower end of the bar is connected with a landing gear 102 . The line-riding gliding device 210 protrudes downwards with two fork-riding devices 211 (the combination of each support rod), and the maximum spread distance between the two fork-riding devices 211 is the same as the width of the wings of the UAV 100. When riding a line and gliding When the device 210 falls from directly above the power line, the fork riding device 211 receives the force of the power line, and will automatically slide the power line to the top of the fork riding device 211 . Two pulleys are installed on the top of the fork riding device 211 as the sliding device 212, and the sliding device 212 is used to reduce the friction between the wire riding sliding device 210 and the power line, and reduce the drag load and wire riding of the UAV 100. Friction loss between the skid 210 and the power line.

As shown in Figure 4, the work of the whole set of equipment includes six actions: preparation, take-off, line riding, taxiing, flying over the tower and landing, which are:

Prepare, complete the equipment hooking work on the ground, check the working status of the equipment, and set the distance of flying over the tower and the threshold of flying clear height;

Take-off, manual control or automatic take-off are all available, control the UAV 100 hanging equipment to fly to the vicinity of the power line, the remote control decision-making control module detects the power line, the remote control terminal displays the detected power line, manual check/automatic selection Power lines that require taxiing;

Riding the line, the control decision-making module 240 determines the positional relationship between the current position of the device and the power line in real time by processing the data of the laser radar 220, plans the flight action of the UAV 100, flies directly above the power line, and the UAV 100 descends to the Power line, ride on the power line with the fork of the sliding device;

To taxi, the UAV 100 flies forward, and the line-riding gliding device slides forward to patrol the line under the drag of the UAV 100;

Flying over the tower, when the line-riding gliding device reaches the set distance threshold for flying over the tower, the UAV 100 climbs and flies over the height specified by the clear height threshold, hovers the whole set of equipment directly above the tower, and multi-channel cameras take pictures of the tower. The pole image is used to detect faults at insulators, power line joints, etc.; after the image is taken, the UAV 100 flies forward and crosses the distance threshold of the tower pole, and then performs the line riding action again;

Landing, when the line inspection task is completed or the battery power is low, the UAV 100 system automatically lands to the designated point.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments, and what is described in the above-mentioned embodiments and the description is only to illustrate the principle of the utility model. Simple modifications and replacements by ordinary technicians are within the protection scope of the present utility model.

Claims (6)

1. a kind of intelligent electric power line walking equipment, including unmanned plane, the battery powered to unmanned plane, it is characterised in that in unmanned plane On be connected with：

Line skid is ridden, the device that can be slided or roll on high-tension bus-bar；

Laser radar, for scan data and detects the position of power line, enables to ride line skid and accurately hangs over electric power On line；

Tower bar automatic identification module, for recognizing tower bar, by controlling unmanned plane to leap tower bar when shaft tower is run into；

Decision Control module, for controlling unmanned plane during flying situation；

Decision Control module control unmanned plane is ridden on power line when laser radar detects power line；Work as unmanned plane Decision Control module control unmanned plane leap tower bar when tower bar automatic identification module detects tower bar during riding.

2. a kind of intelligent electric power line walking equipment according to claim 1, it is characterised in that：Described rides line skid bag Include at least one pulley, the support bar for supporting pulley, the connecting rod for being connected support bar with unmanned plane, the circumferential centre of the pulley Position is provided with the chute that the power supply line of force is caught in.

3. a kind of intelligent electric power line walking equipment according to claim 2, it is characterised in that：Described support bar is located at pulley Bottom is used to support whole unmanned plane, and each pulley both sides are equipped with support bar, and the total number of support bar is no less than three, It is connected by least one connecting rod of support bar located at pulley both sides with unmanned plane.

4. a kind of intelligent electric power line walking equipment according to claim 1, it is characterised in that：Described tower bar automatic identification mould Block includes image capture module and laser ranging module, and described image capture module contains No. 4 imaging sensors, and image is adopted Collect module identification electric power transmission tower bar, the distance between laser ranging module measurement current flight position and electric power transmission tower bar.

5. a kind of intelligent electric power line walking equipment according to claim 1, it is characterised in that：Described Decision Control module is led to The laser scanner data crossed in collection laser radar system in real time realizes that power line point cloud data is extracted, and passes through power line point Cloud extracts the relativeness for realizing current flight position and power cord position, by reference to relative position relation to aircraft course line Real-time Dynamic Programming is carried out, controls aircraft to reach the level point specified by flight control system and realizes that riding line flies.

6. a kind of intelligent electric power line walking equipment according to claim 4, it is characterised in that：Described image capture module bag Contained 4 road cameras, be respectively facing immediately below, with underface to 30 ° of positions of left avertence, with underface to 30 ° of right avertence and front Set.