CN207339074U - A kind of laser cradle head device for removing transmission line of electricity floating material - Google Patents
A kind of laser cradle head device for removing transmission line of electricity floating material Download PDFInfo
- Publication number
- CN207339074U CN207339074U CN201721092820.3U CN201721092820U CN207339074U CN 207339074 U CN207339074 U CN 207339074U CN 201721092820 U CN201721092820 U CN 201721092820U CN 207339074 U CN207339074 U CN 207339074U
- Authority
- CN
- China
- Prior art keywords
- control unit
- transmission line
- floating material
- cradle head
- laser
- 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.)
- Expired - Fee Related
Links
Landscapes
- Closed-Circuit Television Systems (AREA)
Abstract
The utility model provides a kind of laser cradle head device for removing transmission line of electricity floating material, including upper frame and underframe, the upper frame is fixed on unmanned plane, azimuth axle device is installed on the upper frame, underframe is fixedly mounted in the azimuth axle device lower end, and the level angle of underframe is adjusted by the azimuth axle device；Pitching shafting device is installed in the underframe side, and the pitch angle of underframe is adjusted by the pitching shafting device；Control unit, and the high-energy laser and video-unit of control unit connection are further included, the video-unit includes video camera, and described control unit connects the wireless communication module of unmanned plane.The laser cradle head device described in the utility model for removing transmission line of electricity floating material possess increasing it is steady, from functions such as motion tracking, target range measure, transmitting superlasers, can realize and circuit floating material is effectively removed.
Description
Technical field
The utility model belongs to cable machinery technical field, more particularly, to a kind of laser holder for removing cable floating material
Device.
Background technology
With transmission line construction be carried out at high speed and the quickening of Urbanization in China, a large amount of electric lines appear in
Peri-urban, cable floating material become an important factor for threatening power network safety operation.Tradition it is powered remove by using
Aerial lift device with insulated arm lift-off is won or is stepped on bar and won with insulating bar, and difficulty is larger, and the cost time is longer, and work efficiency is relatively low, electricity
Network operation and personnel's operation are there are greater risk, and the huge economic losses removed and will cause national economy that have a power failure.Therefore, lead to
The work efficiency for improving circuit floating material with new technical means and removing is crossed, reduces demand of human resources, ensures that supply of electric power is steady
It is fixed to have become key issue in the urgent need to address in the operation of current transmission line of electricity.
At present, power grid Yun Jian companies by rotor wing unmanned aerial vehicle carry can flame foreign body eliminating apparatus, when unmanned plane is close
During floating material on power transmission line, the alignment power transmission line floating material that jets out flames makes its burning, but more demanding to manipulator, and directly
It is higher to spray flame temperature, easily circuit is caused in itself to damage；Irradiated using ground high power density laser beam and be cut material,
Continuous heating reaches vaporization or melt temperature completes material cutting, but such a mode is that ground surface end removes circuit floating at a distance
Thing, effective working distance is limited, applies and is restricted in the supertension line complex environment of remote, high leap.
The content of the invention
In view of this, the utility model is directed to a kind of laser cradle head device for removing transmission line of electricity floating material, with solution
Certainly existing electric line foreign matter remove device easily causes to damage to circuit, removes the situation that distance receives limitation.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of laser cradle head device for removing transmission line of electricity floating material, including upper frame and underframe, the upper frame are consolidated
It is scheduled on unmanned plane, azimuth axle device is installed on the upper frame, lower frame is fixedly mounted in the azimuth axle device lower end
Frame, the level angle of underframe is adjusted by the azimuth axle device；Pitching shafting device is installed in the underframe side, leads to
Cross the pitch angle that the pitching shafting device adjusts underframe；
Further include control unit, and the high-energy laser and video-unit of control unit connection, the video-unit bag
Video camera is included, described control unit connects the wireless communication module of unmanned plane；The azimuth axle device and pitching shafting device
Control unit is all connected, angular adjustment is carried out by control unit control azimuth shafting device and pitching shafting device.
Further, the upper frame includes carry plate, and the Quick-disassembling mechanism installed in carry plate side, the Quick Release
Mechanism is two, the respectively installation one of carry plate both sides；The upper end of the Quick-disassembling mechanism is equipped with mounting hole, passes through mounting hole and bolt
Quick-disassembling mechanism is fixed on uav bottom；
The carry plate is double layer design, and centre is provided with buffering ball；The Quick-disassembling mechanism is fixed on by wing bolt
The lower floor of carry plate；
The azimuth axle device penetration type is installed on carry plate centre position, and the azimuth axle device is fixedly mounted on
The upper strata of carry plate.
Further, the video-unit further includes video frequency tracking unit, and the information output connection of the video camera regards
Frequency tracing unit, the video frequency tracking unit connect control unit by RS422 communication interfaces；
Video-out port is additionally provided with the video frequency tracking unit；The video frequency tracking unit is installed on carry plate.
Further, the lower end of the azimuth axle device passes through carry crossbeam carry underframe；The azimuth axle dress
Put lower end and two ring-type fixed parts are installed, fixed carry crossbeam is interted by ring-type fixed part；
The carry crossbeam both ends are each to fix a vertical carry arm, and rotatable support is installed between two vertical carry arms
Frame, the rotatable bracket side installation pitching shafting device；
High-energy laser and video camera are fixedly mounted on the rotatable bracket.
Further, radar range unit is further included, the radar range unit is connected by RS232 communication interfaces and controlled
Unit；
The radar range unit is installed on rotatable bracket.
Further, the azimuth axle device includes shaft, and the bearing being sleeved in shaft and the side of drive shaft
Position servomotor；
The bearing servo motor connects control unit by azimuth-drive motor driver.
Further, installation position encoder is gone back in the azimuth axle device, the azimuth encoder connection control is single
Member, the angle information rotated horizontally is sent by the azimuth encoder to control unit.
Further, the pitching shafting device includes shaft, and the bearing that is sleeved in shaft and drive shaft are bowed
Face upward servomotor；
The elevation servo motor connects control unit by pitching motor driver；
Pitching encoder is also installed in the pitching shafting device, is sent and bowed to control unit by the pitching encoder
Face upward angle information.
Further, gyro acquisition module is further included, the gyro acquisition module connects control unit；The gyro collection
Module uses STM32F405 microprocessors.
Further, described control unit uses STM32F405 microprocessor architecture designs, is connected by RS422 communication interfaces
The wireless communication module of unmanned plane, ground monitoring device is connected by the wireless communication module of unmanned plane.
Relative to the prior art, it is described in the utility model remove transmission line of electricity floating material laser cradle head device have with
Lower advantage：
The laser cradle head device described in the utility model for removing transmission line of electricity floating material possess increasing it is steady, from motion tracking, mesh
The functions such as subject distance measure, transmitting superlaser, can realize and circuit floating material is effectively removed；Quick-disassembling mechanism is added, with
Unmanned plane switching carry frame compatibility is high, can quickly complete the dismounting for increasing steady holder, quick easy to the more equipment of rotor wing unmanned aerial vehicle
Carry.
Brief description of the drawings
The attached drawing for forming the part of the utility model is used to provide a further understanding of the present invention, this practicality is new
The schematic description and description of type is used to explain the utility model, does not form the improper restriction to the utility model.
In attached drawing：
Fig. 1 is that the laser cradle head device overall structure of the removing transmission line of electricity floating material described in the utility model embodiment is shown
It is intended to；
Fig. 2 is that the laser cradle head device facing structure of the removing transmission line of electricity floating material described in the utility model embodiment is shown
It is intended to；
Fig. 3 is the laser cradle head device functional block diagram of the removing transmission line of electricity floating material described in the utility model embodiment；
Fig. 4 is the laser cradle head device control unit control of the removing transmission line of electricity floating material described in the utility model embodiment
Algorithm block diagram processed；
Fig. 5 is that the laser cradle head device automatic tracing of the removing transmission line of electricity floating material described in the utility model embodiment is calculated
Method block diagram.
Description of reference numerals：
The upper frames of 1-；2- underframes；The vertical carry arms of 21-；3- control units；4- video frequency tracking units；5- azimuth axles
Device；6- pitching shafting devices；7- high-energy lasers；8- video cameras；9- radar range units；10- carry transverse arms；11- Quick Release
Structure；12- wing bolts；13- buffering balls；14- ring-type fixed parts.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In the description of the utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For the limitation to the utility model.In addition, term " first ", " second " etc. are only used for description purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Such as Fig. 1, Fig. 2, shown in Fig. 3, a kind of laser cradle head device for removing transmission line of electricity floating material, including 1 He of upper frame
Underframe 2, the upper frame 1 are fixed on unmanned plane, and azimuth axle device 5, the azimuth axis are provided with the upper frame 1
It is that underframe 2 is fixedly mounted in 5 lower end of device, the level angle of underframe 2 is adjusted by the azimuth axle device 5；Under described
2 side of frame installation pitching shafting device 6, the pitch angle of underframe 2 is adjusted by the pitching shafting device 6；
Further include control unit 3, and the high-energy laser 7 and video-unit that control unit 3 connects, the video-unit
Including video camera 8, described control unit 3 connects the wireless communication module of unmanned plane；The azimuth axle device 5 and pitching shafting
Device 6 all connects control unit 3, and angle tune is carried out by 3 control azimuth shafting device 5 of control unit and pitching shafting device 6
Section.
Upper frame 1 includes carry plate, and the Quick-disassembling mechanism installed in carry plate side, and the Quick-disassembling mechanism is two,
The respectively installation one of carry plate both sides；The upper end of the Quick-disassembling mechanism is equipped with mounting hole, by mounting hole and bolt by Quick-disassembling mechanism
It is fixed on uav bottom；Quick-disassembling mechanism meets that what is be rapidly assembled and disassembled between multi-rotor unmanned aerial vehicle switching carry frame wants
Ask.Quick-disassembling mechanism supports left plate and Quick Release support right panel to form by Quick Release, can be fixed with four M4 screws with aircraft bottom.
Quick-disassembling mechanism can realize rapid assembling laser holder agent structure to patrol unmanned machine, realization device and inspection
Mechanism is rapidly assembled and disassembled between unmanned plane switching carry frame, handheld device is not had in installation process and is installed, is twisted using hand
Wing bolt 12 is installed without instrument, simplifies assembling process, improves the assembling speed of assembly crewman, easy to operate, saving labor
Power, during equipment availability more easy to outdoor inspection efficiently, Quick universal carry equipment, improve electric inspection process operating efficiency.
The carry plate is double layer design, and centre is provided with buffering ball 13；The Quick-disassembling mechanism is solid by wing bolt 12
It is scheduled on the lower floor of carry plate；
5 penetration type of azimuth axle device is installed on carry plate centre position, and the azimuth axle device 5 is fixedly mounted
On the upper strata of carry plate.
Video-unit further includes video frequency tracking unit 4, and the information output of the video camera 8 connects video frequency tracking unit 4,
The video frequency tracking unit 4 connects control unit 3 by RS422 communication interfaces；The rotatable support of video tracking unit real-time reception
8 video information of high definition visible light camera in frame, control unit 3 are logical by RS422 interface communications, foundation with video tracking unit
Believe agreement and tracking control algorithm lock onto target, communicated with radar range unit 9 by RS232 interface, gather real-time range, really
Set the goal and be in laser effective operation scope, customization high-energy laser 7 is then carried into pitching frame and sends order, is enabled
High-energy laser 7 effectively removes circuit floating material.
Video-out port is additionally provided with video frequency tracking unit 4；The video frequency tracking unit 4 is installed on carry plate.
The lower end of azimuth axle device 5 passes through carry crossbeam carry underframe 2；5 lower end of the azimuth axle device installation
Two ring-type fixed parts 14, pass through the interspersed fixed carry crossbeam of ring-type fixed part 14；
The carry crossbeam both ends are each to fix a vertical carry arm 21, is installed between two vertical carry arms 21 rotatable
Bracket, the rotatable bracket side installation pitching shafting device 6；
High-energy laser 7 and video camera 8 are fixedly mounted on the rotatable bracket.
Underframe 2 carries visible light camera 8, high-energy laser 7 and radar range unit 9, video hub axis and high energy
Laser crosses in space, can carry out ranging to lock onto target, and launches the removing that laser completes transmission line of electricity floating material, is defeated
Electric line safe operation provides guarantee.
Radar range unit 9 is further included, the radar range unit 9 connects control unit 3 by RS232 communication interfaces；
The radar range finding unit is installed on rotatable bracket.Pass through the measurement of radar range unit 9 and floating material and barrier
Distance.
Azimuth axle device 5 includes shaft, and the bearing and the bearing servo motor of drive shaft being sleeved in shaft；
The bearing servo motor connects control unit 3 by azimuth-drive motor driver.
Installation position encoder is gone back in azimuth axle device 5, the azimuth encoder connects control unit 3, by described
Azimuth encoder sends the angle information rotated horizontally to control unit 3.
Pitching shafting device 6 includes shaft, and the bearing and the elevation servo motor of drive shaft being sleeved in shaft；Institute
State elevation servo motor and control unit 3 is connected by pitching motor driver；Pitching volume is also installed in the pitching shafting device 6
Code device, pitch angle information is sent by the pitching encoder to control unit 3.
Gyro acquisition module connects control unit 3；The gyro acquisition module uses STM32F405 microprocessors.
Control unit 3 uses STM32F405 microprocessor architecture designs, and the wireless of unmanned plane is connected by RS422 communication interfaces
Communication module, ground monitoring device is connected by the wireless communication module of unmanned plane.
Control mode includes MANUAL CONTROL mode and automatic tracing pattern.
As shown in figure 4, when system is in MANUAL CONTROL mode, ground control personnel show control by remote controler or ground and set
The standby radio transmission apparatus being equipped with via aircraft sends corresponding control instruction and is connect to control unit 3, control unit 3 by RS422
Mouth receives and parses through control instruction, so as to control the orientation and pitch rotation of holder, detects ground or aerial target.High definition is visible
The video information of 8 load of light video camera shooting, the attitude information of holder and working status are returned by the radio transmission apparatus of aircraft
Ground control centre is reached, is operated with for ground staff.Servo control algorithm uses tricyclic structure, and inner ring (is driven for electric current loop
Inside dynamic device), intermediate loop is gyro rate stabilization ring, and outer shroud is position follower ring.
As shown in figure 5, when system is in automatic tracing mode, control unit 3, will according to the instruction of ground handling operator
The target information for needing to lock is sent to video tracking unit, and video tracking unit lock onto target simultaneously calculates object missing distance in real time
To control unit 3, control unit 3 calculates driving motor movement by automatic track algorithm, realizes to target from motion tracking.This
When, ground control personnel can be controlled laser to launch superlaser by ground display panel control and remove circuit floating material.Automatically with
Track algorithm uses tricyclic structure, and inner ring is electric current loop internal drive, and intermediate loop is gyro rate stabilization ring, and outer shroud is position
Stabilizing ring.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on, should be included in the utility model
Protection domain within.
Claims (10)
- A kind of 1. laser cradle head device for removing transmission line of electricity floating material, it is characterised in that：Including upper frame (1) and underframe (2), the upper frame (1) is fixed on unmanned plane, and azimuth axle device (5), the orientation are provided with the upper frame (1) Underframe (2) is fixedly mounted in shafting device (5) lower end, and the horizontal angle of underframe (2) is adjusted by the azimuth axle device (5) Degree；Underframe (2) the side installation pitching shafting device (6), underframe (2) is adjusted by the pitching shafting device (6) Pitch angle；Further include control unit (3), and the high-energy laser (7) and video-unit of control unit (3) connection, the video dress Put and connect the wireless communication module of unmanned plane including video camera (8), described control unit (3)；The azimuth axle device (5) and Pitching shafting device (6) all connects control unit (3), passes through control unit (3) control azimuth shafting device (5) and pitching shafting Device (6) carries out angular adjustment.
- 2. the laser cradle head device according to claim 1 for removing transmission line of electricity floating material, it is characterised in that：The upper ledge Frame (1) includes carry plate, and the Quick-disassembling mechanism installed in carry plate side, and the Quick-disassembling mechanism is two, carry plate both sides Each installation one；The upper end of the Quick-disassembling mechanism is equipped with mounting hole, and Quick-disassembling mechanism is fixed on nobody by mounting hole and bolt Motor spindle；The carry plate is double layer design, and centre is provided with buffering ball (13)；The Quick-disassembling mechanism is solid by wing bolt (12) It is scheduled on the lower floor of carry plate；Azimuth axle device (5) penetration type is installed on carry plate centre position, and the azimuth axle device (5) is fixedly mounted On the upper strata of carry plate.
- 3. the laser cradle head device according to claim 2 for removing transmission line of electricity floating material, it is characterised in that：The video Device further includes video frequency tracking unit (4), and the information output connection video frequency tracking unit (4) of the video camera (8) is described to regard Frequency tracing unit (4) connects control unit (3) by RS422 communication interfaces；Video-out port is additionally provided with the video frequency tracking unit (4)；The video frequency tracking unit (4) is installed on carry plate On.
- 4. the laser cradle head device according to claim 1 for removing transmission line of electricity floating material, it is characterised in that：The orientation The lower end of shafting device (5) passes through carry crossbeam carry underframe (2)；Azimuth axle device (5) lower end is installed by two rings Shape fixed part (14), passes through the interspersed fixed carry crossbeam of ring-type fixed part (14)；The carry crossbeam both ends are each to fix a vertical carry arm (21), is installed between two vertical carry arms (21) rotatable Bracket, the rotatable bracket side installation pitching shafting device (6)；High-energy laser (7) and video camera (8) are fixedly mounted on the rotatable bracket.
- 5. the laser cradle head device according to claim 4 for removing transmission line of electricity floating material, it is characterised in that：Further include thunder Up to range unit (9), the radar range unit (9) connects control unit (3) by RS232 communication interfaces；The radar range unit (9) is installed on rotatable bracket.
- 6. the laser cradle head device according to claim 1 for removing transmission line of electricity floating material, it is characterised in that：The orientation Shafting device (5) includes shaft, and the bearing and the bearing servo motor of drive shaft being sleeved in shaft；The bearing servo motor connects control unit (3) by azimuth-drive motor driver.
- 7. the laser cradle head device according to claim 6 for removing transmission line of electricity floating material, it is characterised in that：The orientation Installation position encoder is gone back in shafting device (5), the azimuth encoder connection control unit (3), passes through the azimuth coding Device sends the angle information rotated horizontally to control unit (3).
- 8. the laser cradle head device according to claim 1 for removing transmission line of electricity floating material, it is characterised in that：The pitching Shafting device (6) includes shaft, and the bearing and the elevation servo motor of drive shaft being sleeved in shaft；The elevation servo motor connects control unit (3) by pitching motor driver；Pitching encoder is also installed in the pitching shafting device (6), is sent by the pitching encoder to control unit (3) Pitch angle information.
- 9. the laser cradle head device according to claim 1 for removing transmission line of electricity floating material, it is characterised in that：Further include top Spiral shell acquisition module, the gyro acquisition module connection control unit (3)；The gyro acquisition module uses the micro- places of STM32F405 Manage device.
- 10. the laser cradle head device according to claim 1 for removing transmission line of electricity floating material, it is characterised in that：The control Unit (3) processed uses STM32F405 microprocessor architecture designs, and the wireless communication module of unmanned plane is connected by RS422 communication interfaces, Ground monitoring device is connected by the wireless communication module of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721092820.3U CN207339074U (en) | 2017-08-29 | 2017-08-29 | A kind of laser cradle head device for removing transmission line of electricity floating material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721092820.3U CN207339074U (en) | 2017-08-29 | 2017-08-29 | A kind of laser cradle head device for removing transmission line of electricity floating material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207339074U true CN207339074U (en) | 2018-05-08 |
Family
ID=62371414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721092820.3U Expired - Fee Related CN207339074U (en) | 2017-08-29 | 2017-08-29 | A kind of laser cradle head device for removing transmission line of electricity floating material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207339074U (en) |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108512180A (en) * | 2018-06-16 | 2018-09-07 | 南京理工大学 | Laser deicing device based on multisensor |
| CN108545204A (en) * | 2018-06-04 | 2018-09-18 | 苏州市启献智能科技有限公司 | A kind of laser projecting apparatus of unmanned plane and its carry |
| CN108695802A (en) * | 2018-06-16 | 2018-10-23 | 南京理工大学 | Laser deicing device |
| CN108695801A (en) * | 2018-06-16 | 2018-10-23 | 南京理工大学 | Based on infrared laser deicing device |
| CN108767739A (en) * | 2018-06-16 | 2018-11-06 | 南京理工大学 | Laser removes foreign matter device and removes matter method |
| CN108808551A (en) * | 2018-06-16 | 2018-11-13 | 南京理工大学 | Reflection-type laser removes foreign matter device automatic impurity-removing object space method |
| CN108808549A (en) * | 2018-06-16 | 2018-11-13 | 南京理工大学 | De-icing method based on laser deicing system |
| CN108832533A (en) * | 2018-06-16 | 2018-11-16 | 南京理工大学 | The fuzzy PID control method of foreign matter device is removed based on reflection-type laser |
| CN108820214A (en) * | 2018-06-11 | 2018-11-16 | 天津航天中为数据系统科技有限公司 | A kind of aircraft, which is examined, beats control emission system |
| CN108832534A (en) * | 2018-06-16 | 2018-11-16 | 南京理工大学 | Reflection-type laser removes foreign matter device |
| CN108847646A (en) * | 2018-06-16 | 2018-11-20 | 南京理工大学 | Round-the-clock laser deicing method based on multisensor |
| CN108847615A (en) * | 2018-07-02 | 2018-11-20 | 广东容祺智能科技有限公司 | A kind of unmanned plane and its block removing method of adjustable laser block removing |
| CN108881826A (en) * | 2018-06-16 | 2018-11-23 | 南京理工大学 | Laser removes foreign matter device monitoring system |
| CN108856172A (en) * | 2018-06-16 | 2018-11-23 | 南京理工大学 | The laser deicing device of view-based access control model |
| CN108879551A (en) * | 2018-06-16 | 2018-11-23 | 南京理工大学 | The laser deicing device ice self-removing method of view-based access control model |
| CN108899846A (en) * | 2018-06-16 | 2018-11-27 | 南京理工大学 | Based on infrared round-the-clock laser deicing method |
| CN108988201A (en) * | 2018-07-27 | 2018-12-11 | 广东电网有限责任公司 | Laser barrier clearing device |
| CN108994451A (en) * | 2018-07-17 | 2018-12-14 | 云南电网有限责任公司曲靖供电局 | Directional locking and system |
| CN109131895A (en) * | 2018-07-27 | 2019-01-04 | 上海扩博智能技术有限公司 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
| CN109462178A (en) * | 2018-05-21 | 2019-03-12 | 国网浙江省电力有限公司丽水供电公司 | A kind of laser removes foreign matter device |
| CN109720593A (en) * | 2018-12-28 | 2019-05-07 | 上海扩博智能技术有限公司 | Blade tracing detection carry device, unmanned plane and method based on laser facula |
| CN110480181A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The target prediction method of foreign matter device is removed based on laser |
| CN110728812A (en) * | 2019-10-12 | 2020-01-24 | 国网新疆电力有限公司喀什供电公司 | Detection and protection device for preventing external damage of power transmission line and use method thereof |
| CN111076051A (en) * | 2019-12-12 | 2020-04-28 | 中国航空工业集团公司洛阳电光设备研究所 | Two-shaft two-frame mechanism with ball head connecting rod transmission mechanism |
| TWI704313B (en) * | 2019-11-19 | 2020-09-11 | 啓碁科技股份有限公司 | Wireless communication apparatus and bracket structure thereof |
| CN112066226A (en) * | 2020-09-14 | 2020-12-11 | 南京世博电控技术有限公司 | Unmanned vehicle remote monitoring system and monitoring method |
| CN112467604A (en) * | 2020-10-28 | 2021-03-09 | 国网河北省电力有限公司经济技术研究院 | Foreign matter removing device for power transmission line |
| CN113173249A (en) * | 2021-06-15 | 2021-07-27 | 南通大学 | Unmanned aerial vehicle laser gun for removing foreign matters from electric power high-voltage overhead transmission line and method thereof |
| CN113212757A (en) * | 2021-06-08 | 2021-08-06 | 国网河北省电力有限公司保定供电分公司 | Unmanned aerial vehicle clearance sacrifice system |
-
2017
- 2017-08-29 CN CN201721092820.3U patent/CN207339074U/en not_active Expired - Fee Related
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109462178A (en) * | 2018-05-21 | 2019-03-12 | 国网浙江省电力有限公司丽水供电公司 | A kind of laser removes foreign matter device |
| CN108545204A (en) * | 2018-06-04 | 2018-09-18 | 苏州市启献智能科技有限公司 | A kind of laser projecting apparatus of unmanned plane and its carry |
| CN108820214A (en) * | 2018-06-11 | 2018-11-16 | 天津航天中为数据系统科技有限公司 | A kind of aircraft, which is examined, beats control emission system |
| CN108820214B (en) * | 2018-06-11 | 2023-12-22 | 天津航天中为数据系统科技有限公司 | Aircraft scouting control transmitting system |
| CN108879551A (en) * | 2018-06-16 | 2018-11-23 | 南京理工大学 | The laser deicing device ice self-removing method of view-based access control model |
| CN108512180A (en) * | 2018-06-16 | 2018-09-07 | 南京理工大学 | Laser deicing device based on multisensor |
| CN108808549A (en) * | 2018-06-16 | 2018-11-13 | 南京理工大学 | De-icing method based on laser deicing system |
| CN108832533A (en) * | 2018-06-16 | 2018-11-16 | 南京理工大学 | The fuzzy PID control method of foreign matter device is removed based on reflection-type laser |
| CN108767739A (en) * | 2018-06-16 | 2018-11-06 | 南京理工大学 | Laser removes foreign matter device and removes matter method |
| CN108832534A (en) * | 2018-06-16 | 2018-11-16 | 南京理工大学 | Reflection-type laser removes foreign matter device |
| CN108847646A (en) * | 2018-06-16 | 2018-11-20 | 南京理工大学 | Round-the-clock laser deicing method based on multisensor |
| CN110480181A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The target prediction method of foreign matter device is removed based on laser |
| CN108881826A (en) * | 2018-06-16 | 2018-11-23 | 南京理工大学 | Laser removes foreign matter device monitoring system |
| CN108856172A (en) * | 2018-06-16 | 2018-11-23 | 南京理工大学 | The laser deicing device of view-based access control model |
| CN108695801A (en) * | 2018-06-16 | 2018-10-23 | 南京理工大学 | Based on infrared laser deicing device |
| CN108899846A (en) * | 2018-06-16 | 2018-11-27 | 南京理工大学 | Based on infrared round-the-clock laser deicing method |
| CN108695802A (en) * | 2018-06-16 | 2018-10-23 | 南京理工大学 | Laser deicing device |
| CN108808551A (en) * | 2018-06-16 | 2018-11-13 | 南京理工大学 | Reflection-type laser removes foreign matter device automatic impurity-removing object space method |
| CN108847615A (en) * | 2018-07-02 | 2018-11-20 | 广东容祺智能科技有限公司 | A kind of unmanned plane and its block removing method of adjustable laser block removing |
| CN108994451A (en) * | 2018-07-17 | 2018-12-14 | 云南电网有限责任公司曲靖供电局 | Directional locking and system |
| CN109131895A (en) * | 2018-07-27 | 2019-01-04 | 上海扩博智能技术有限公司 | Unmanned plane carry device, unmanned plane and the method for detection are automatically tracked for blade |
| CN108988201A (en) * | 2018-07-27 | 2018-12-11 | 广东电网有限责任公司 | Laser barrier clearing device |
| CN109720593A (en) * | 2018-12-28 | 2019-05-07 | 上海扩博智能技术有限公司 | Blade tracing detection carry device, unmanned plane and method based on laser facula |
| CN110728812A (en) * | 2019-10-12 | 2020-01-24 | 国网新疆电力有限公司喀什供电公司 | Detection and protection device for preventing external damage of power transmission line and use method thereof |
| CN110728812B (en) * | 2019-10-12 | 2021-06-08 | 国网新疆电力有限公司喀什供电公司 | Detection and protection device for preventing external damage of power transmission line and use method thereof |
| TWI704313B (en) * | 2019-11-19 | 2020-09-11 | 啓碁科技股份有限公司 | Wireless communication apparatus and bracket structure thereof |
| CN111076051A (en) * | 2019-12-12 | 2020-04-28 | 中国航空工业集团公司洛阳电光设备研究所 | Two-shaft two-frame mechanism with ball head connecting rod transmission mechanism |
| CN112066226A (en) * | 2020-09-14 | 2020-12-11 | 南京世博电控技术有限公司 | Unmanned vehicle remote monitoring system and monitoring method |
| CN112467604A (en) * | 2020-10-28 | 2021-03-09 | 国网河北省电力有限公司经济技术研究院 | Foreign matter removing device for power transmission line |
| CN113212757A (en) * | 2021-06-08 | 2021-08-06 | 国网河北省电力有限公司保定供电分公司 | Unmanned aerial vehicle clearance sacrifice system |
| CN113173249A (en) * | 2021-06-15 | 2021-07-27 | 南通大学 | Unmanned aerial vehicle laser gun for removing foreign matters from electric power high-voltage overhead transmission line and method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207339074U (en) | A kind of laser cradle head device for removing transmission line of electricity floating material | |
| CN101811578B (en) | Special photoelectric nacelle of power patrol unmanned helicopter | |
| CN206125436U (en) | Many rotors of abnormal shape plant protection unmanned aerial vehicle | |
| CN206193489U (en) | Intelligence system of patrolling and examining based on circular orbit | |
| CN204750571U (en) | A flight machine people for high -rise building fire control is put out a fire | |
| CN108583182B (en) | Air-land amphibious spherical robot | |
| CN111687849A (en) | Disinfection and sterilization robot | |
| CN204315727U (en) | A kind of Navigation of Pilotless Aircraft antenna | |
| CN109896003A (en) | A kind of VTOL is verted three rotor wing unmanned aerial vehicles | |
| CN205574270U (en) | Delivery manipulator based on four rotor crafts | |
| CN205044948U (en) | Solar energy unmanned aerial vehicle | |
| CN213535103U (en) | Unmanned aerial vehicle for power transmission line inspection | |
| CN208593494U (en) | Unmanned road conditions reconnaissance plane | |
| CN207106886U (en) | A kind of comprehensive unmanned plane of taking photo by plane | |
| CN205434917U (en) | Intelligence remote control football service robot | |
| CN206797734U (en) | A kind of patrol unmanned machine of infrared imaging fixed-wing | |
| CN211001888U (en) | Four rotor unmanned aerial vehicle camera linkage | |
| CN209600800U (en) | A kind of VTOL is verted three rotor wing unmanned aerial vehicles | |
| CN108177532A (en) | wind energy pure electric automobile | |
| CN208498794U (en) | A kind of patrol unmanned machine of environmental protection | |
| CN113911356A (en) | Coating spraying device for power facilities based on unmanned aerial vehicle and control method | |
| CN113997262A (en) | Air-ground inspection robot and working method thereof | |
| CN211253033U (en) | Unmanned aerial vehicle for electric power inspection | |
| CN208278330U (en) | A kind of plant protection drone spraying operation wind field test macro | |
| CN219105385U (en) | Unmanned aerial vehicle inspection equipment for power industry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180508 Termination date: 20200829 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |