CN210666482U - Autonomous cruise device based on unmanned aerial vehicle - Google Patents
Autonomous cruise device based on unmanned aerial vehicle Download PDFInfo
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- CN210666482U CN210666482U CN201921197312.0U CN201921197312U CN210666482U CN 210666482 U CN210666482 U CN 210666482U CN 201921197312 U CN201921197312 U CN 201921197312U CN 210666482 U CN210666482 U CN 210666482U
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- laser radar
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Abstract
The utility model provides an autonomous cruise device based on unmanned aerial vehicle, which can carry out autonomous cruise according to a predetermined line, and the assembly mode of the unmanned aerial vehicle is simpler, which comprises an unmanned aerial vehicle body, a navigation controller for controlling the operation of the unmanned aerial vehicle body and a main propeller is arranged in the unmanned aerial vehicle body, an electronic map server for storing the region to be cruising is arranged in the navigation controller, the navigation controller is connected to the electronic map server through a wireless network, a satellite positioning module, a three-dimensional electronic compass, a distance measuring module and an image acquisition module are also arranged in the navigation controller, the signal output ends of the satellite positioning module, the three-dimensional electronic compass, the distance measuring module and the image acquisition module are respectively connected to the corresponding ports of the navigation controller, the unmanned aerial vehicle body also comprises a laser radar scanner, the unmanned aerial vehicle is provided with a screwing groove near, the bottom of laser radar scanner is provided with closes the buckle soon with closing the recess matching soon.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field of cruising particularly, relates to an independently cruise device based on unmanned aerial vehicle.
Background
With the acceleration of the construction of a power grid, the structure of a power transmission line becomes complex, the distribution range of the lines is wider and wider, and the areas where the lines pass are mostly areas with severe environments, which brings great influence on the safe and stable operation of the power grid. The transmission line pole tower and the transmission line are exposed in the air for a long time, not only are pressure brought by power load born, but also the transmission line pole tower and the transmission line are damaged by external force such as lightning flashover, pollution corrosion, wind and rain blow and the like for a long time, so that hidden troubles such as loss of abrasion of an insulator of the transmission line, strand breakage of a lead, loss of a vibration damper and the like are caused, and if the hidden trouble problems can not be found in time, the electric energy transmission and the safe operation of a power grid can. Therefore, the power transmission line and the surrounding conditions are regularly inspected, potential hazards which may exist are found as early as possible, related departments are informed to overhaul in time, and the power supply safety of the power transmission line is ensured.
The power transmission line needs to pass through various complex terrains and vegetations, so that a lot of difficulties are brought to the detection of the power line. According to the relevant regulations for high-voltage grid lines: in the range of the ultra-high voltage network cable with a certain diameter distance, if objects directly contacted with the ground exist, safety accidents such as leakage discharge and the like can occur. At present, the distance detection between a high-altitude medium power grid and peripheral objects is an important index for the safety detection of an extra-high voltage power grid line. The power line is exposed in the field for a long time, the power line can be discharged due to the growth of trees, and the power line must be treated in time. It is therefore a very important task to detect the distance between the high voltage power lines and the trees.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an independently cruise device based on unmanned aerial vehicle, it can independently cruise according to predetermined circuit to this unmanned aerial vehicle mounting means is simpler.
The embodiment of the utility model is realized like this:
an autonomous cruise device based on an unmanned aerial vehicle comprises an unmanned aerial vehicle body, main thrusters for driving the unmanned aerial vehicle body to advance are arranged on four corners of the unmanned aerial vehicle body, a navigation controller for controlling the unmanned aerial vehicle body and the main thrusters to operate is arranged in the unmanned aerial vehicle body, an electronic map server for storing an area to be cruised is arranged in the navigation controller, the navigation controller is connected to the electronic map server through a wireless network, a satellite positioning module, a three-dimensional electronic compass, a distance measuring module, an image acquisition module and a satellite positioning module are further arranged in the navigation controller, three-dimensional electron compass, range finding module and image acquisition module's signal output part is connected to the port that navigation controller corresponds respectively, and the unmanned aerial vehicle body still includes laser radar scanner, and unmanned aerial vehicle is close to main propeller position and is provided with and closes the recess soon, and laser radar scanner's bottom is provided with and closes the buckle soon that the recess matches soon.
The utility model discloses an in the preferred embodiment, above-mentioned laser radar scanner is including connecting base, articulate and laser radar body, and the one end of connecting the base is provided with closes the buckle soon, connects the other end and the articulate connection of base, and the other end of articulate is connected to the laser radar body.
In a preferred embodiment of the present invention, the connection base is provided with a rotation driver for driving the connection joint to rotate.
The utility model discloses a in the preferred embodiment, above-mentioned laser radar body is including the first cavity and the second cavity that set up side by side, and the inside joint of first cavity has the camera, and the inside joint of second cavity has laser radar.
The utility model discloses an in the preferred embodiment, above-mentioned autonomic cruise control still includes autopilot and remote control module, autopilot, remote control module respectively with navigation controller electric connection, remote control module and client controller communication connection.
The utility model discloses a in the preferred embodiment, the bottom of above-mentioned laser radar body still is provided with the lug, is provided with first recess on the lug, and first recess is inside to be provided with the iron sheet.
The utility model discloses an in the preferred embodiment, above-mentioned laser radar body still includes the light filling lamp, and the light filling lamp is installed in first recess.
The utility model discloses a in the preferred embodiment, above-mentioned light filling lamp includes the light filling lamp casing, set up in the light filling lamp casing battery, with battery electric connection's bulb, set up the safety cover outside the bulb, set up the magnet in light filling lamp casing bottom.
The embodiment of the utility model provides a beneficial effect is: the utility model provides an autonomous cruise device is provided with navigation controller, is provided with the electronic map server in the navigation controller, and when needs are patrolled and navigated, unmanned aerial vehicle can cruise autonomously according to the electronic map of electronic map server, transmits information acquisition to the navigation controller and then spreads into the client, reduces manual cruise intervention, is provided with the satellite positioning module in the navigation controller, and after cruising, can inspect the regional route of cruising; a three-dimensional electronic compass is also arranged and used for drawing the running direction of the route; the distance measurement module is connected with the navigation controller and used for avoiding barriers in the navigation process; the image acquisition module is used for acquiring cruise information, and the laser radar scanner in the embodiment adopts a screwing and buckling mode, so that the assembly of the laser radar scanner is simpler; the laser radar and the camera are arranged together and used for detecting a moving object and preventing collision; still be provided with the light filling lamp in camera below, the light filling lamp adopts the magnet adsorption mode, and is more convenient when the installation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a connection structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a laser radar body according to an embodiment of the present invention;
icon: 100-a main propeller; 200-a navigation controller; 210-electronic map server; 220-a satellite positioning module; 230-three-dimensional electronic compass; 240-ranging module; 250-an image acquisition module; 300-laser radar scanner; 310-a connection base; 320-a connecting joint; 330-laser radar body; 311-screwing buckle; 331-a camera; 332-laser radar; 400-autopilot; 500-a remote control module; 600-a client controller; 333-a bump; 334-a first groove; 335-iron sheet; 336-a light supplement lamp; 337-magnet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
First embodiment
Referring to fig. 1-3, the present embodiment provides an autonomous cruise apparatus based on an unmanned aerial vehicle, which includes an unmanned aerial vehicle body, main thrusters 100 for driving the unmanned aerial vehicle body to advance are disposed at four corners of the unmanned aerial vehicle body, a navigation controller 200 for controlling the unmanned aerial vehicle body and the main thrusters 100 to operate is disposed inside the unmanned aerial vehicle body, an electronic map server 210 storing an area to be cruised is disposed inside the navigation controller 200, the navigation controller 200 is connected to the electronic map server 210 through a wireless network, a satellite positioning module 220, a three-dimensional electronic compass 230, a distance measuring module 240 and an image acquisition module 250 are further disposed inside the navigation controller 200, signal output ends of the satellite positioning module 220, the three-dimensional electronic compass 230, the distance measuring module 240 and the image acquisition module 250 are respectively connected to corresponding ports of the navigation controller 200, and the unmanned aerial vehicle body further includes a laser radar, unmanned aerial vehicle is close to main propeller 100 position and is provided with the spiral groove of closing, and laser radar scanner 300's bottom is provided with and closes the buckle soon that the groove matches with revolving.
Unmanned aerial vehicle passes through laser radar scanning data and acquires wire and unmanned aerial vehicle relative position, realizes through adaptive algorithm that unmanned aerial vehicle will move towards independently adjusting according to the circuit and cruises, carries out the full coverage to the circuit simultaneously and shoots. The unmanned aerial vehicle carries on a laser radar, detects the minimum clearance distance between the wire and the line-running trees, displays the distance data in real time on the operation site, and generates a patrol report on the site.
In this embodiment, the lidar scanner 300 includes a connection base 310, a connection joint 320, and a lidar body 330, wherein one end of the connection base 310 is provided with a screw buckle 311, the other end of the connection base 310 is connected with the connection joint 320, and the other end of the connection joint 320 is connected to the lidar body 330. In this embodiment, the connection base 310 is provided with a rotation driver (not shown) for driving the connection joint 320 to rotate.
In this embodiment, laser radar body 330 includes first cavity and the second cavity that sets up side by side, and the inside joint of first cavity has camera 331, and the inside joint of second cavity has laser radar 332.
In this embodiment, the autonomous cruise apparatus further includes an autopilot 400 and a remote control module 500, the autopilot 400 and the remote control module 500 are electrically connected to the navigation controller 200, respectively, and the remote control module 500 is in communication connection with the client controller 600.
In this embodiment, the bottom of the laser radar body 330 is further provided with a protruding block 333, the protruding block 333 is provided with a first groove 334, and an iron sheet 335 is disposed inside the first groove 334.
In this embodiment, the laser radar body 330 further includes a light supplement lamp 336, and the light supplement lamp 336 is installed in the first groove 334.
In this embodiment, light filling lamp 336 includes light filling lamp 336 casing, sets up battery in light filling lamp 336 casing, with battery electric connection's bulb, sets up the safety cover outside the bulb, sets up the magnet 337 in light filling lamp 336 casing bottom.
In summary, the autonomous cruise device in the present invention is provided with a navigation controller 200, an electronic map server 210 is provided in the navigation controller 200, when the cruise is required, the unmanned aerial vehicle can autonomously cruise according to the electronic map of the electronic map server 210, and then acquire information to the navigation controller 200 and transmit the information to the client, so as to reduce manual cruise intervention, and after the cruise is finished, a satellite positioning module 220 is provided in the navigation controller 200, so as to check a cruising area route; a three-dimensional electronic compass 230 is also provided for mapping the direction of travel of the route; the distance measurement module 240 is connected with the navigation controller 200 and is used for avoiding obstacles in the navigation process; the image acquisition module 250 is used for acquiring cruise information, and the laser radar scanner 332300 in the embodiment adopts a screwing buckle 311 mode, so that the assembly of the laser radar scanner 332300 is simpler; the laser radar 332 and the camera 331 are arranged together for detecting a moving object and preventing collision; still be provided with light filling lamp 336 in camera 331 below, light filling lamp 336 takes magnet 337 adsorption mode, and is more convenient when the installation.
This description describes examples of embodiments of the invention, and is not intended to illustrate and describe all possible forms of the invention. It should be understood that the embodiments described in this specification can be implemented in many alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Specific structural and functional details disclosed are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention. It will be appreciated by persons skilled in the art that a plurality of features illustrated and described with reference to any one of the figures may be combined with features illustrated in one or more other figures to form embodiments which are not explicitly illustrated or described. The described combination of features provides a representative embodiment for a typical application. However, various combinations and modifications of the features consistent with the teachings of the present invention may be used as desired for particular applications or implementations.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An autonomous cruise device based on an unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, wherein main thrusters for driving the unmanned aerial vehicle body to advance are arranged on four corners of the unmanned aerial vehicle body, a navigation controller for controlling the unmanned aerial vehicle body and the main thrusters to operate is arranged in the unmanned aerial vehicle body, an electronic map server for storing an area to be cruised is arranged in the navigation controller, the navigation controller is connected to the electronic map server through a wireless network, a satellite positioning module, a three-dimensional electronic compass, a distance measuring module and an image acquisition module are further arranged in the navigation controller, signal output ends of the satellite positioning module, the three-dimensional electronic compass, the distance measuring module and the image acquisition module are respectively connected to a port corresponding to the navigation controller, and the unmanned aerial vehicle body further comprises a laser radar scanner, unmanned aerial vehicle is close to main propeller position is provided with closes the recess soon, laser radar scanner's bottom be provided with close the buckle soon that the recess matches soon.
2. The autonomous cruise device based on unmanned aerial vehicle of claim 1, characterized in that laser radar scanner includes connection base, connection joint and laser radar body, the one end of connection base is provided with close the buckle soon, the other end of connection base with connection joint connects, the other end of connection joint is connected to the laser radar body.
3. The unmanned aerial vehicle-based autonomous cruise apparatus of claim 2, wherein said connection base is provided with a rotation driver for driving said connection joint to rotate.
4. The autonomous cruise device based on unmanned aerial vehicle of claim 2, wherein the lidar body comprises a first cavity and a second cavity arranged side by side, a camera is clamped inside the first cavity, and a lidar is clamped inside the second cavity.
5. The unmanned aerial vehicle-based autonomous cruise apparatus of claim 1, wherein said autonomous cruise apparatus further comprises an autopilot and a remote control module, said autopilot and said remote control module are electrically connected to said navigation controller, respectively, and said remote control module is in communication connection with a client controller.
6. The unmanned aerial vehicle-based autonomous cruise device according to claim 2, wherein a projection is further arranged at the bottom of the laser radar body, a first groove is arranged on the projection, and an iron sheet is arranged inside the first groove.
7. The unmanned aerial vehicle-based autonomous cruise apparatus of claim 6, wherein said lidar body further comprises a light supplement lamp, said light supplement lamp being mounted in said first recess.
8. The unmanned aerial vehicle-based autonomous cruise device according to claim 7, wherein the light supplement lamp comprises a light supplement lamp shell, a battery arranged in the light supplement lamp shell, a bulb electrically connected with the battery, a protective cover arranged outside the bulb, and a magnet arranged at the bottom of the light supplement lamp shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921197312.0U CN210666482U (en) | 2019-07-26 | 2019-07-26 | Autonomous cruise device based on unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921197312.0U CN210666482U (en) | 2019-07-26 | 2019-07-26 | Autonomous cruise device based on unmanned aerial vehicle |
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| CN210666482U true CN210666482U (en) | 2020-06-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162340A (en) * | 2021-11-29 | 2022-03-11 | 浙江图盛输变电工程有限公司温州科技分公司 | Tower hanging point absolute coordinate acquisition system |
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2019
- 2019-07-26 CN CN201921197312.0U patent/CN210666482U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162340A (en) * | 2021-11-29 | 2022-03-11 | 浙江图盛输变电工程有限公司温州科技分公司 | Tower hanging point absolute coordinate acquisition system |
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Address after: 641000 Building 1, No. 888, Hanchen Road, Neijiang economic and Technological Development Zone, Neijiang City, Sichuan Province Patentee after: Sichuan Infisight Technology Co.,Ltd. Address before: 641000 Building 1, No. 888, Hanchen Road, Neijiang economic and Technological Development Zone, Neijiang City, Sichuan Province Patentee before: SICHUAN YUXIANG TECHNOLOGY Co.,Ltd. |