CN206480981U - A kind of intelligent electric power line walking equipment - Google Patents
A kind of intelligent electric power line walking equipment Download PDFInfo
- Publication number
- CN206480981U CN206480981U CN201720184074.4U CN201720184074U CN206480981U CN 206480981 U CN206480981 U CN 206480981U CN 201720184074 U CN201720184074 U CN 201720184074U CN 206480981 U CN206480981 U CN 206480981U
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- line
- power line
- tower bar
- electric power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model is related to power-line patrolling technical field, is to be directed to a kind of intelligent electric power line walking device and method that existing circuit line walking efficiency is low, can not realize long distance and high precision line walking and provide.The battery powered including unmanned plane, to unmanned plane, is connected with unmanned plane：Line skid, laser radar, tower bar automatic identification module, Decision Control module are ridden, Decision Control module control unmanned plane is ridden on power line when laser radar detects power line；Decision Control module control unmanned plane leap tower bar when tower bar automatic identification module detects tower bar during unmanned plane is ridden.The utility model improves unmanned plane endurance using line slip is ridden, it is to avoid frequently unmanned plane rises and falls manipulation, alleviates personnel's amount of labour, improves line walking efficiency, is more suitable for a wide range of line walking Mission Operations；Improve the wind loading rating of equipment.
Description
Technical field
The utility model belongs to power-line patrolling technical field, more particularly to a kind of intelligent electric power line walking equipment.
Background technology
Improved constantly with the requirement of power transmission, Transmission level more and more higher, high pressure/super-pressure line walking upkeep operation pair
It is particularly important in the effect of the security, stability and improved efficiency of network system.Region residing for transmission line of electricity is generally nature ring
Severe, the hard to get to field in border, power line is long-term by mechanical tensile forces, thunderbolt, temperature change, sleet sky in natural environment
, easily there is the insulator on the phenomenons such as the inclination of tower bar, strand breakage of circuit, aging, corrosion, electric power transmission tower bar in nature in the influence of gas
Also easily damaged in environment, growth of power line periphery trees etc., be required to carry out inspection to power line.Traditional is artificial
Routine inspection mode is using range estimation, and inefficiency, labor intensity are big, the low problem of inspection precision, and in part circuit line walking task
In, personnel are unable to reach, and significantly limit the efficiency and validity of artificial line walking.Unmanned aerial vehicle-mounted laser radar system goes out
It is existing, the efficiency and application scenarios of power-line patrolling are improved to a certain extent, but unmanned plane cruising time is short, track flight essence
Degree is low, it is impossible to accomplish long range, high accuracy flight.Therefore in the urgent need to exploitation is a kind of over long distances, high-precision line walking equipment.
Utility model content
The purpose of this utility model be for existing circuit line walking efficiency is low, long distance and high precision line walking can not be realized and
A kind of intelligent electric power line walking equipment provided.
To achieve these goals, technical solution adopted in the utility model is：
A kind of intelligent electric power line walking equipment, including unmanned plane, the battery powered to unmanned plane, are connected with unmanned plane：
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
On power 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 nothing
Decision Control module control unmanned plane leap tower bar when man-machine period tower bar automatic identification module of riding detects tower bar.
It is described ride line skid including at least one pulley, support the support bar of pulley, by support bar and unmanned plane
The connecting rod of connection, the circumferential centre position of the pulley is provided with the chute that the power supply line of force is caught in.
Described support bar is used to support whole unmanned plane located at pulley bottom, and each pulley both sides are equipped with support
Bar, and the total number of support bar is no less than three, at least one connecting rod of support bar located at pulley both sides is by itself and nothing
Man-machine connection.
Described tower bar automatic identification module includes image capture module and laser ranging module, described IMAQ mould
Block contains No. 4 imaging sensors, image capture module identification electric power transmission tower bar, laser ranging module measurement current flight position
The distance between with electric power transmission tower bar.
Described Decision Control module realizes electric power by the laser scanner data gathered in real time in laser radar system
Line cloud data is extracted, and realizes the relativeness of current flight position and power cord position by power line data reduction, is led to
Cross and real-time Dynamic Programming is carried out to aircraft course line with reference to relative position relation, control aircraft to reach by flight control system
The level point specified, which is realized, rides line flight.
Described image capture module contains 4 road cameras, is respectively facing underface and underface to 30 ° of positions of left avertence
Put, set with underface to 30 ° of right avertence and front.
The beneficial effects of the utility model：The utility model improves unmanned plane endurance using line slip is ridden, it is to avoid
Frequently unmanned plane rises and falls manipulation, alleviates personnel's amount of labour, improves line walking efficiency, is more suitable for a wide range of line walking task and makees
Industry；Line mode is ridden, the wind loading rating of equipment is improved, the environmental suitability of equipment is improved；On independent technological leapfrogging high-tension line
The barriers such as tower bar, possess autonomous detection of obstacles function；Rocking for carrying platform is reduced, closely line walking, help to carry
High line walking precision.
Brief description of the drawings
Fig. 1 is the block diagram of system of the present utility model；
Fig. 2 is the utility model overall schematic；
Fig. 3 is to ride line skid structural representation；
Fig. 4 is equipment workflow schematic diagram.
Embodiment
The utility model is described further with reference to embodiment.
Embodiment
Intelligent line patrolling equipment 1 as shown in Figure 1, including unmanned plane 100（Unmanned plane concrete structure is market mature technology,
Just it is not set forth in detail herein, also has the remote control supporting with unmanned plane certainly, be not described in detail herein）、
Ride line skid 210, laser radar 220, tower bar detection means 230 and Decision Control module 240, laser radar 220, tower bar
Detection means 230 and supplying cell 250 are located at unmanned plane bottom, and laser radar 220 and tower bar detection means 230 are fixed on nobody
Machine lower end side, supplying cell 250 is fixed on unmanned plane lower end opposite side.The utility model combination laser radar technique, line walking
Robot technology and unmanned air vehicle technique, power line is detected using laser radar 220 and circuit tendency is predicted, unmanned plane is utilized in real time
100 draggings are ridden and slided along line skid 210；The automatic detection electric power transmission tower bar of tower bar detection means 230, when line walking equipment is leaned on
Unmanned plane 100 climbs to specified altitude assignment during nearly power line, drives carry equipment to leap tower bar, and clapped directly over tower bar
According to；Decision Control module 240 completes laser radar 220, the data collection and analysis decision-making of tower bar detection means 230, realizes whole
System workflow process control.Laser radar 220 contains laser scanner 221 and multichannel camera 222, and multichannel camera 222 is completed
The IMAQ of multiple angles.Tower bar detection means 230 contains 1 forward direction camera 231 towards the direction of advance of unmanned plane 100
With laser range finder 232, forward direction camera 231 is used to catch electric power transmission tower bar, and determines its direction, and laser range finder is used to measure
The distance between line walking equipment and tower bar, the data that tower bar detection means 230 is exported are used as Decision Control module 240 to control line walking
The foundation that equipment is taken off with landing.Decision Control module 240 is the core of complete equipment, and its major function includes laser thunder
Obstacle detection 242 is realized up to 220 data acquisition process, the data acquisition process of tower bar automatic detection device 230, be sent out flight
Instruction 241 and Row control 243.
As shown in Figures 2 and 3, unmanned plane 100 uses eight rotor structures, the characteristics of with load capacity；Unmanned plane 100 with
Ride between line skid 210 and to be rigidly connected using support bar 101 and connecting rod, be connected with and rise and fall in support bar lower end
Frame 102.Ride line skid 210 extend downwardly from 2 fork riding suits put 211（The combination of each support bar）, 2 fork riding suits put 211 it
Between maximum development distance it is identical with the spademan width of unmanned plane 100, when riding line skid 210 directly over the power line downwards
During landing, fork riding suit put 211 by power line active force, will automatically by power line slide onto fork riding suit put 211 top.
Fork riding suit puts 211 tops and is mounted with 2 pulleys as carriage 212, using carriage 212, reduces and rides line and slide dress
The frictional force between 210 and power line is put, the dragging load of unmanned plane 100 is reduced and rides line skid 210 and power line
Between frictional dissipation.
As shown in figure 4, complete equipment work includes preparing, takes off, ride line, slide, leap 6 actions of tower bar and landing,
Respectively：
Prepare, equipment mounting work, detection device working condition are completed on ground, and set the distance for leaping tower bar and fly
More clear height threshold value；
Take off, manual control/automatic takeoff mode, the control suspension locking equipment of unmanned plane 100 flies to power line
Near, remote control Decision Control module carries out power line detection, and remote control terminal shows detected power line, artificial to hook
Selecting/automatically selecting needs to slide the power line of stop；
Line is ridden, control decision module 240 determines equipment current location and electricity in real time by handling the data of laser radar 220
Position relationship between the line of force, plans the flare maneuver of unmanned plane 100, and flight is to directly over power line, and unmanned plane 100 is to decline
Power line is dropped down onto, line skid fork is ridden and rides up on power line；
Slide, the flight forward of unmanned plane 100 rides line skid under the dragging of unmanned plane 100, line walking is slided forward；
Tower bar is leapt, when leaping tower bar distance threshold of setting is reached when riding line skid, unmanned plane 100, which climbs, to be leapt
Height specified by clear height threshold value, directly over complete equipment hovering to tower bar, multichannel camera shoots tower bar image, for detecting
The failure of insulator, electric power wire terminal etc.；Shooting image is completed, and the flight forward of unmanned plane 100 leaps tower bar distance threshold, then
Line action is ridden in secondary execution；
Landing, when line walking task is completed or battery electric quantity deficiency, the system of unmanned plane 100 drop to specified point automatically.
General principle of the present utility model, principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, it is in the art common on the premise of the utility model spirit and scope are not departed from
Technical staff simple change and replace all be within protection domain 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720184074.4U CN206480981U (en) | 2017-02-28 | 2017-02-28 | A kind of intelligent electric power line walking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720184074.4U CN206480981U (en) | 2017-02-28 | 2017-02-28 | A kind of intelligent electric power line walking equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206480981U true CN206480981U (en) | 2017-09-08 |
Family
ID=59747206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720184074.4U Active CN206480981U (en) | 2017-02-28 | 2017-02-28 | A kind of intelligent electric power line walking equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206480981U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106848922A (en) * | 2017-02-28 | 2017-06-13 | 绵阳天眼激光科技有限公司 | A kind of intelligent electric power line walking device and method |
| CN108594847A (en) * | 2018-03-27 | 2018-09-28 | 广东电网有限责任公司 | A kind of autocontrol method of power transmission line unmanned machine laser radar modeling |
| CN108988199A (en) * | 2018-07-02 | 2018-12-11 | 广州供电局有限公司 | Power transmission line fitting crimp quality detection device |
| WO2022105750A1 (en) * | 2020-11-18 | 2022-05-27 | 衢州光明电力投资集团有限公司赋腾科技分公司 | Power-saving transmission line patrolling unmanned aerial vehicle |
| CN116014890A (en) * | 2022-12-16 | 2023-04-25 | 南方电网智慧用能能源(广东)有限公司 | Overhead line wire electric safety distance alarm device based on laser radar technology |
-
2017
- 2017-02-28 CN CN201720184074.4U patent/CN206480981U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106848922A (en) * | 2017-02-28 | 2017-06-13 | 绵阳天眼激光科技有限公司 | A kind of intelligent electric power line walking device and method |
| CN108594847A (en) * | 2018-03-27 | 2018-09-28 | 广东电网有限责任公司 | A kind of autocontrol method of power transmission line unmanned machine laser radar modeling |
| CN108988199A (en) * | 2018-07-02 | 2018-12-11 | 广州供电局有限公司 | Power transmission line fitting crimp quality detection device |
| WO2022105750A1 (en) * | 2020-11-18 | 2022-05-27 | 衢州光明电力投资集团有限公司赋腾科技分公司 | Power-saving transmission line patrolling unmanned aerial vehicle |
| CN116014890A (en) * | 2022-12-16 | 2023-04-25 | 南方电网智慧用能能源(广东)有限公司 | Overhead line wire electric safety distance alarm device based on laser radar technology |
| CN116014890B (en) * | 2022-12-16 | 2024-03-05 | 广东南海电力设计院工程有限公司 | Overhead line wire electric safety distance alarm device based on laser radar technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206480981U (en) | A kind of intelligent electric power line walking equipment | |
| CN106848922A (en) | A kind of intelligent electric power line walking device and method | |
| Alhassan et al. | Power transmission line inspection robots: A review, trends and challenges for future research | |
| CN107394873B (en) | Full-automatic environment-friendly wireless charging system of electric power inspection unmanned aerial vehicle | |
| CN105739512B (en) | Unmanned plane automatic tour inspection system and method | |
| CN110282143B (en) | Inspection method for offshore wind farm unmanned aerial vehicle | |
| CN104965518B (en) | Electric inspection process flying robot's flight course planning method based on Three-dimensional Numeric Map | |
| CN112269398B (en) | Unmanned aerial vehicle of transformer substation independently patrols and examines system | |
| CN103224026B (en) | A kind ofly be applicable to dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network patrols and examines and workflow thereof | |
| CN106886225B (en) | Multifunctional unmanned aerial vehicle intelligent landing station system | |
| CN107300486A (en) | A kind of water quality sampling method and system based on unmanned plane | |
| CN107063755B (en) | Unmanned aerial vehicle water sample collection method | |
| CN105204522B (en) | A kind of power transmission line unmanned machine relay flight inspection method | |
| CN106218910B (en) | Acquire system, method and the controlling terminal of high-voltage electric power circuit screen of trees defect | |
| CN204184578U (en) | A kind of charged aircraft device of unmanned plane searching line defct and hidden danger | |
| CN112960132A (en) | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest | |
| CN112684806A (en) | Electric power inspection unmanned aerial vehicle system based on dual obstacle avoidance and intelligent identification | |
| CN105514872A (en) | High-efficiency unmanned aerial vehicle group power inspection system | |
| CN106444839A (en) | Unmanned-aerial-vehicle high-voltage-cable automatic line patrol system | |
| CN205958565U (en) | Blowdown forensics system | |
| CN104683759A (en) | Wireless video monitoring equipment and method based on aircraft for chimney inner wall corrosion condition | |
| CN105035315B (en) | Multi-rotor unmanned aerial vehicle based on laser light accurate line drop inspection and operation method | |
| CN205193597U (en) | Unmanned aerial vehicle dish coal measures all | |
| CN203094447U (en) | Unmanned helicopter for power line inspection with inertial navigation platform | |
| CN104377599A (en) | Cradle for live overhaul of helicopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 201, building A7, Nanshan Zhiyuan, No. 1001, Xueyuan Avenue, Changyuan community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lijian Tianyan Technology Co., Ltd Address before: 621000 Mianyang city of Sichuan Province Branch Park No. 237 Middle Road Patentee before: SICHUAN SCIENCE CITY JIULI TECHNOLOGY INDUSTRIAL CO., LTD. |
|
| CP03 | Change of name, title or address |