CN211180658U - Unmanned aerial vehicle distribution network intelligence system of patrolling and examining - Google Patents
Unmanned aerial vehicle distribution network intelligence system of patrolling and examining Download PDFInfo
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Abstract
The utility model belongs to the technical field of unmanned aerial vehicle patrols and examines, especially, relate to an unmanned aerial vehicle distribution network intelligence system of patrolling and examining. The system comprises an unmanned aerial vehicle and a ground station, wherein the unmanned aerial vehicle comprises a remote sensing monitoring module for acquiring, storing and transmitting routing inspection data; the remote sensing monitoring module comprises an image processor and an image recognizer which are connected with a camera in the remote sensing monitoring module; the image processor is used for processing the identification image data acquired by the camera, S1, carrying out weighted average gray scale processing on the identification image acquired in real time, S3 and filtering noise reduction processing; the image recognizer is used for monitoring and judging the position of the recognition image so as to judge the height and the direction of the unmanned aerial vehicle; the method comprises the steps of T1, acquiring and identifying the contour of the image based on the black-and-white image, T2, and eliminating the contour of a non-regular polygon positioning area in the effective contour; t3, removing the non-annular mark zone contour in the effective contour. The utility model discloses on the basis that need not set up extra detection positioner at the unmanned aerial vehicle body, improve unmanned aerial vehicle's berth quick-witted speed and the efficiency of patrolling and examining.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle patrols and examines, especially, relate to an unmanned aerial vehicle distribution network intelligence system of patrolling and examining.
Background
The unmanned aerial vehicle is a general name of an unmanned aerial vehicle which is controlled by a wireless signal or a set program. Along with the rapid development of electronics and material technology, the quality is light, efficient unmanned aerial vehicle equipment constantly emerges, because unmanned aerial vehicle can carry out comparatively high-efficient convenient work under high altitude long voyage, consequently it has obtained extensive application in fields such as military affairs, survey and drawing, shoot, monitoring, unmanned aerial vehicle's characteristic and its function make it have fine agreeable nature with power grid planning and patrol and examine work, power grid planning patrols and examines the accurate earth's surface structure in-process needs initiative planning region, geographic data such as power grid facility position, this can utilize to carry on remote sensing monitoring equipment such as camera on unmanned aerial vehicle and acquire, later obtain usable geographic data after thinking that analysis processes through modes such as image recognition promptly.
With the improvement of corresponding data processing and equipment, the main problem that actually influences the application of the unmanned aerial vehicle in the fields of power inspection and the like is the continuous working capacity of the unmanned aerial vehicle, and the unmanned aerial vehicle is different from a large high-altitude detection robot in size and strong in cruising ability, and in the power inspection process, the unmanned aerial vehicle generally comprises a power transmission line from a power transmission network infrastructure. Transformers and the like fly over the sky, the flying height is relatively low for ensuring the picture quality, and better controllability is needed for avoiding vegetation and buildings along the transmission line, so a small or medium-sized unmanned aerial vehicle with smaller volume and more flexible control is generally adopted, but the self load capacity of the small or medium-sized unmanned aerial vehicle is limited, after a remote sensing detection device meeting the operation requirement is additionally arranged, the space available for equipping batteries in the unmanned aerial vehicle is insufficient, so the continuous working capacity of the unmanned aerial vehicle is limited, the length of the transmission network is longer, and the unmanned aerial vehicle is often arranged in a remote or luxurious area, in order to solve the problems, a technology for continuously supplying power to the unmanned aerial vehicle by utilizing electric energy in the transmission network is provided, but no good method exists how to ensure that the unmanned aerial vehicle can accurately and rapidly park in a power supply position, a charging point is arranged along the transmission network in a conventional method, the operations of parking positioning, connection, charging, separation and the like are realized by using the sensors, the movable connection structures and the like, but the operations also result in that besides necessary charging facilities, a plurality of supporting and fixing structures are required to be arranged along the power transmission network, more importantly, various structures or equipment are required to be arranged on the unmanned aerial vehicle in a matched manner to realize connection, and the load capacity of the unmanned aerial vehicle is further weakened.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a do not need extra support and connection structure, utilize the necessary remote sensing monitoring facilities of process of patrolling and examining to realize unmanned aerial vehicle high efficiency's location, berth, reduce unmanned aerial vehicle and patrol and examine the cost, improve the unmanned aerial vehicle distribution network intelligence system of patrolling and examining efficiency.
The utility model discloses an unmanned aerial vehicle distribution network intelligence system of patrolling and examining, including unmanned aerial vehicle and ground satellite station, unmanned aerial vehicle is including being used for controlling unmanned aerial vehicle flight attitude, the control module of adjustment unmanned aerial vehicle operation mode; the remote sensing monitoring module is used for acquiring, storing and transmitting routing inspection data; the transmission control module is used for controlling the actions of the rotor wing of the unmanned aerial vehicle and other structures; the energy module is used for providing electric energy for the transmission control module and various remote sensing monitoring devices, and is particularly characterized in that:
the unmanned plane is a multi-rotor unmanned plane with equal arm length, and the arm length is the distance L between the rotor of the unmanned plane and the center position of the unmanned plane;
the remote sensing monitoring module comprises an image processor and an image recognizer which are connected with a camera in the remote sensing monitoring module;
the intelligent inspection device comprises a power transmission line to be inspected, and is characterized by further comprising a parking apron uniformly arranged along the power transmission line to be inspected, wherein an online power taking structure and a parking apron plate are arranged in the parking apron, the parking apron plate is horizontally arranged, an identification diagram is arranged on the upper end face of the parking apron plate and comprises a regular polygon positioning area arranged on the outer side, an annular mark area is arranged on the inner side of the regular polygon, an adjusting line penetrating through the annular mark area along the fixed direction is further arranged in the identification diagram, the variable of the regular polygon positioning area is α, the side length is L, and the inner circle radius and the outer circle radius of the annular mark1、r2；
The image processor is used for processing the identification image data acquired by the camera and comprises
S1, carrying out weighted average gray scale processing on the identification image acquired in real time, wherein the gray scale formula is as follows:
f(x,y)＝0.299R(x,y)+0.587G(x,y)+0.144B(x,y)
s2, acquiring a black-and-white image of the identification image based on the image subjected to the graying processing, wherein the gray value of a pixel point of the black-and-white image satisfies the following conditions:
wherein
A, B is the size of the pixel value of the acquired image, im, n is the gray value of the pixel point i, and m, n are the coordinates of the pixel point i;
s3, filtering and denoising;
the image recognizer is used for monitoring and judging the position of the recognition image so as to judge the height and the direction of the unmanned aerial vehicle; comprises that
T1, obtaining and identifying image contour based on the black-and-white image, specifically obtaining black-and-white image according to the parameters of center point distance and contour in the imageContour data of the image; the effective contour is judged by the following formula:
wherein i, j refers to any two contours extracted from black and white images, Z refers to the Euclidean distance between two points, C refers to the perimeter of the contour, S refers to the area of the contour, and x, y refer to the centroid coordinates of the contour; wherein phiz、φc、φsThe specific values are calculated according to the size of the upper end face of the parking plane plate and the size data of the identification graph;
t2, eliminating the contour of a non-regular polygon positioning area in the effective contour, and determining the flight height of the unmanned aerial vehicle, wherein the method specifically comprises the following steps: obtaining the area S of the regular polygon positioning area according to the relation between the edge size of the regular polygon positioning area and the areaIs justAnd the circumference CIs justRatio of
Sequentially calculating the correspondence of the effective profile i in the black-and-white image
According to the characteristic that the K value of the regular polygon is not changed, whether the effective outline i is the outline of the regular polygon positioning area or not is judged, and the judgment formula is | Ki-KIs just|≤φIs just，φIs justTo allow error values;
after the regular polygon positioning area is positioned, the flight height H of the unmanned aerial vehicle can be determined through the perimeter or the area parameter of the regular polygon in the picture, the unmanned aerial vehicle is continuously close to the parking apron, the steps are repeated to determine whether the unmanned aerial vehicle reaches the proper landing height, and the flight height H of the unmanned aerial vehicle is close to the set landing height H0After the height of the unmanned aerial vehicle relative to the apron is referred to, the step T3 is carried out;
t3, removing the non-annular mark area outline in the effective outline, determining the coordinates of the annular mark area, and obtaining the black of the identification area through Hough transform based on the black and white image outline of the identification areaThe round contour in the white image can cause the blurring of the round and other images due to the problems of the definition of the image and the like, so the changed moral contour comprises a plurality of concentric circles with similar diameters which are mutually overlapped, and the duplication elimination processing is needed for the reason, specifically, two similar round contours meeting a judgment formula are subjected to the duplication elimination, and the judgment formula of the overlapped round contours is that
Wherein L is the distance between the centers of two circular contours to be judged, R is the radius of the circular contour, phiL、φRFor corresponding decision threshold, kRThe radius ratio of an inner circle and an outer circle of the annular mark area is defined; continuously correcting the threshold until two circular contours are left;
based on the steps, the overlapped circular outlines in the identification image can be distinguished and combined to avoid judgment errors, and the outline of the annular mark area in the black-white image is obtained;
t4, determining the yaw angle of the unmanned aerial vehicle to correct the orientation, so that the unmanned aerial vehicle can be fixed and connected conveniently; and extracting line segments in the image based on Hough transform in the step, recording coordinates of intersection points of the line segments and the circular contour in the step, determining the unmanned yaw angle according to coordinate positions of line segment end points, and adjusting based on the coordinates.
The further improvement and optimization of the unmanned aerial vehicle power distribution network intelligent inspection system further comprise that the T3 step further comprises a step for verifying the outline of the annular mark area, in the actual application process, the size and the area of the regular polygon on the outer side are relatively large, so that the positioning and the identification can be conveniently carried out from the upper end face of the parking apron, but in order to ensure the parking accuracy, the size of the annular mark area on the inner side is relatively small and is generally only 5% -10% of the area of the upper end face of the parking apron, the judgment on the circular outline in the pattern can be influenced by water stains, circular fallen leaves and the like remained on the parking apron, so the T3 step further comprises the verification of the annular mark area, specifically, whether the two circular outlines obtained in the T3 step are concentric circles or not is judged by using a judgment formula, namely whether the two circular outlines are the inner edge and the outer edge of the annular mark area or not is judged by using a judgment formula, and ifIf the two circle center contours do not meet the judgment formula, the image is acquired again, and the circular contour is judged and acquired; wherein the concentric circles are judged as
kRIs the radius ratio of the inner circle and the outer circle of the annular mark area.
The unmanned aerial vehicle power distribution network intelligent inspection system is further improved and optimized, and comprises a light shell, wherein a remote sensing monitoring module is arranged on the light shell;
the light shell comprises an upper shell 1 and a lower shell 2, wherein the upper shell 1 and the lower shell 2 are arranged oppositely and detachably connected through a side plate 3 arranged at the edge of the upper shell 1 and the lower shell 2; the camera 9a in the remote sensing monitoring module is arranged on the front side of the lower end face of the lower shell 2, the middle of the lower end face of the lower shell 2 is provided with a mutual inductance type electricity taking device receiving end 8a, and the parking apron comprises a flat parking machine plate and a mutual inductance type electricity taking device transmitting end arranged below the flat parking machine plate.
The further improvement and optimization of the unmanned aerial vehicle power distribution network intelligent inspection system further comprises that the unmanned aerial vehicle is a three-rotor unmanned aerial vehicle; the rotor wing of the unmanned aerial vehicle is connected to the light shell through three cylindrical connecting arms, and comprises swing type connecting arms 5a positioned on two sides and telescopic type connecting arms 5b positioned on the front side or the rear side;
the lower end face of the upper shell 1 and the upper end face of the lower shell 2 are respectively provided with a rotatable connecting column 6a, the two connecting columns 6a are oppositely arranged, the opposite faces of the connecting columns 6a are respectively provided with a groove 6b, one end of the swing type connecting arm 5a is provided with a rotor motor 5c, and the other end of the swing type connecting arm extends into the middle of the opposite groove 6 b;
a limiting block 6c is arranged on the outer side of the connecting column 6a, the limiting block 6c is fixed between the upper shell 1 and the lower shell 2, a notch 6d is formed in one side, facing the swing type connecting arm 5a, of the limiting block 6c, and the swing type connecting arm 5a can be clamped into the notch 6 d;
a plurality of positioning frames 6e distributed in the front-back direction are arranged between the upper shell 1 and the lower shell 2, and the retractable connecting arm 5b penetrates through the middle of the positioning frames 6 e.
The unmanned aerial vehicle power distribution network intelligent inspection system is further improved and optimized, and the upper shell 1 or/and the lower shell 2 are/is also provided with a plurality of outer positioning holes 9b, a swinging type connecting arm 5a and a telescopic type connecting arm 5 b; the swing type connecting arm 5a and the telescopic connecting arm 5b are fixed at the limit positions through pin shafts inserted into the outer positioning holes 9b and the inner positioning holes 5f respectively, and the detachable pin shafts are arranged in the outer positioning holes 9b respectively when the swing type connecting arm 5a and the telescopic connecting arm 5b move to the limit positions.
The beneficial effects are that:
the utility model discloses the condition that the remote sensing monitoring module among the make full use of unmanned aerial vehicle system of patrolling and examining can acquire the image data, through setting up special air park, when unmanned aerial vehicle is close to, realize carrying out the analysis and affirmation to interval between them and unmanned aerial vehicle's specific coordinate, on the basis that need not set up extra detection positioner at the unmanned aerial vehicle body, improve unmanned aerial vehicle's berth quick-witted speed, and then improve and patrol and examine efficiency.
Drawings
Fig. 1 is a schematic diagram of a parking principle of an unmanned aerial vehicle power distribution network intelligent inspection system.
FIG. 2 is a side view of a power distribution network intelligent inspection system unmanned aerial vehicle expanded;
FIG. 3 is a perspective view of an unmanned aerial vehicle of the intelligent inspection system for the power distribution network, shown in a closed state;
fig. 4 is an internal structure schematic diagram of the unmanned aerial vehicle of the intelligent inspection system for the power distribution network.
Detailed Description
The present invention will be described in detail with reference to the following specific examples.
The utility model discloses an unmanned aerial vehicle distribution network intelligence system of patrolling and examining, including unmanned aerial vehicle and ground satellite station. The unmanned aerial vehicle comprises a control module for controlling the flight attitude of the unmanned aerial vehicle and adjusting the operation mode of the unmanned aerial vehicle; the remote sensing monitoring module is used for acquiring, storing and transmitting routing inspection data; the transmission control module is used for controlling the actions of the rotor wing of the unmanned aerial vehicle and other structures; the energy module is used for providing electric energy for the transmission control module and various remote sensing monitoring devices, and is particularly characterized in that:
the unmanned plane is a multi-rotor unmanned plane with equal arm length, and the arm length is the distance L between the rotor of the unmanned plane and the center position of the unmanned plane;
the remote sensing monitoring module comprises an image processor and an image recognizer which are connected with a camera in the remote sensing monitoring module;
the intelligent inspection device comprises a power transmission line to be inspected, and is characterized by further comprising a parking apron uniformly arranged along the power transmission line to be inspected, wherein an online power taking structure and a parking apron plate are arranged in the parking apron, the parking apron plate is horizontally arranged, an identification diagram is arranged on the upper end face of the parking apron plate and comprises a regular polygon positioning area arranged on the outer side, an annular mark area is arranged on the inner side of the regular polygon, an adjusting line penetrating through the annular mark area along the fixed direction is further arranged in the identification diagram, the variable of the regular polygon positioning area is α, the side length is L, and the inner circle radius and the outer circle radius of the annular mark1、r2；
As shown in FIG. 1, the image processor is used for processing the identification image data acquired by the camera, and comprises
S1, carrying out weighted average gray scale processing on the identification image acquired in real time, wherein the gray scale formula is as follows:
f(x,y)＝0.299R(x,y)+0.587G(x,y)+0.144B(x,y)
s2, acquiring a black-and-white image of the identification image based on the image subjected to the graying processing, wherein the gray value of a pixel point of the black-and-white image satisfies the following conditions:
wherein
A, B is the size of the pixel value of the acquired image, im, n is the gray value of the pixel point i, and m, n are the coordinates of the pixel point i;
s3, filtering and denoising;
the image recognizer is used for monitoring and judging the position of the recognition image so as to judge the height and the direction of the unmanned aerial vehicle; comprises that
T1 obtaining and identifying image contour based on the black and white image, specifically according to the quality of the imageAcquiring contour data of a black-and-white image by using the parameters of the center point distance and the contour; the effective contour is judged by the following formula:
wherein i, j refers to any two contours extracted from black and white images, Z refers to the Euclidean distance between two points, C refers to the perimeter of the contour, S refers to the area of the contour, and x, y refer to the centroid coordinates of the contour; wherein phiz、φc、φsThe specific values are calculated according to the size of the upper end face of the parking plane plate and the size data of the identification graph;
t2, eliminating the contour of a non-regular polygon positioning area in the effective contour, and determining the flight height of the unmanned aerial vehicle, wherein the method specifically comprises the following steps: obtaining the area S of the regular polygon positioning area according to the relation between the edge size of the regular polygon positioning area and the areaIs justAnd the circumference CIs justRatio of
Sequentially calculating the correspondence of the effective profile i in the black-and-white image
According to the characteristic that the K value of the regular polygon is not changed, whether the effective outline i is the outline of the regular polygon positioning area or not is judged, and the judgment formula is | Ki-KIs just|≤φIs just，φIs justTo allow error values;
after the regular polygon positioning area is positioned, the flight height H of the unmanned aerial vehicle can be determined through the perimeter or the area parameter of the regular polygon in the picture, the unmanned aerial vehicle is continuously close to the parking apron, the steps are repeated to determine whether the unmanned aerial vehicle reaches the proper landing height, and the flight height H of the unmanned aerial vehicle is close to the set landing height H0After the height of the unmanned aerial vehicle relative to the apron is referred to, the step T3 is carried out;
t3 eliminating the non-ring-shaped marker region contour in the effective contour, determining the coordinates of the ring-shaped marker region, and based on the black-and-white image of the identification regionThe contour is obtained by Hough transform, the circular contour in the black and white image of the identification area is obtained, the blurring of the circular and other images can be caused due to the problems of the definition of the image and the like, the changed moral contour comprises a plurality of concentric circles with similar diameters which are mutually overlapped, and therefore, the de-duplication treatment is required to be carried out, specifically, two similar circular contours meeting a judgment formula are subjected to addition, and the judgment formula of the overlapped circular contour is that
Wherein L is the distance between the centers of two circular contours to be judged, R is the radius of the circular contour, phiL、φRFor corresponding decision threshold, kRThe radius ratio of an inner circle and an outer circle of the annular mark area is defined; continuously correcting the threshold until two circular contours are left;
based on the steps, the overlapped circular outlines in the identification image can be distinguished and combined to avoid judgment errors, and the outline of the annular mark area in the black-white image is obtained;
t4, determining the yaw angle of the unmanned aerial vehicle to correct the orientation, so that the unmanned aerial vehicle can be fixed and connected conveniently; and extracting line segments in the image based on Hough transform in the step, recording coordinates of intersection points of the line segments and the circular contour in the step, determining the unmanned yaw angle according to coordinate positions of line segment end points, and adjusting based on the coordinates.
The further improvement and optimization of the unmanned aerial vehicle power distribution network intelligent inspection system further comprises that the T3 step further comprises a step for verifying the outline of the annular mark area, in the actual application process, the size and the area of the regular polygon on the outer side are relatively large, so that the positioning and the identification can be conveniently carried out from the upper end face of the parking apron, but in order to ensure the parking accuracy, the size of the annular mark area on the inner side is relatively small and is generally only 5% -10% of the area of the upper end face of the parking apron, and the judgment of the circular outline in the pattern can be influenced by water stains, circular fallen leaves and the like remained on the parking apron, so that the T3 step further comprises the verification of the annular mark area, specifically, whether two circular outlines obtained in the T3 step are concentric circles or not is judged by a judgment formula, namely whether the two circular outlines are concentric circles or not, namely whether the circular outlines are in the annularIf the judgment formula is not satisfied, the image should be acquired again, and the circular contour is judged and acquired; wherein the concentric circles are judged as
kRIs the radius ratio of the inner circle and the outer circle of the annular mark area.
Consider that ground station or control center radiation range are limited, and the extension area of part electric wire netting probably exceeds control center's radiation range, for avoiding unnecessary facility input, can also dispose equipment such as mobile control and realize not receiving the operation of patrolling and examining of scope or distance limit value, for realizing above-mentioned purpose, the utility model also provides a simple structure is light and handy, can fold and accomodate, portable transports to can effectively patrol and examine to remote area.
As shown in fig. 2, 3 and 4, the unmanned aerial vehicle comprises a light shell, and the remote sensing monitoring module is arranged on the light shell;
the light shell comprises an upper shell 1 and a lower shell 2, wherein the upper shell 1 and the lower shell 2 are arranged oppositely and detachably connected through a side plate 3 arranged at the edge of the upper shell 1 and the lower shell 2; the camera 9a in the remote sensing monitoring module is arranged on the front side of the lower end face of the lower shell 2, the middle of the lower end face of the lower shell 2 is provided with a mutual inductance type electricity taking device receiving end 8a, and the parking apron comprises a flat parking machine plate and a mutual inductance type electricity taking device transmitting end arranged below the flat parking machine plate.
The unmanned plane is a three-rotor unmanned plane; the rotor wing of the unmanned aerial vehicle is connected to the light shell through three cylindrical connecting arms, and comprises swing type connecting arms 5a positioned on two sides and telescopic type connecting arms 5b positioned on the front side or the rear side;
the lower end face of the upper shell 1 and the upper end face of the lower shell 2 are respectively provided with a rotatable connecting column 6a, the two connecting columns 6a are oppositely arranged, the opposite faces of the connecting columns 6a are respectively provided with a groove 6b, one end of the swing type connecting arm 5a is provided with a rotor motor 5c, and the other end of the swing type connecting arm extends into the middle of the opposite groove 6 b;
a limiting block 6c is arranged on the outer side of the connecting column 6a, the limiting block 6c is fixed between the upper shell 1 and the lower shell 2, a notch 6d is formed in one side, facing the swing type connecting arm 5a, of the limiting block 6c, and the swing type connecting arm 5a can be clamped into the notch 6 d;
a plurality of positioning frames 6e distributed in the front-back direction are arranged between the upper shell 1 and the lower shell 2, and the retractable connecting arm 5b penetrates through the middle of the positioning frames 6 e.
A plurality of outer positioning holes 9b, a swing type connecting arm 5a and a telescopic connecting arm 5b are further arranged on the upper shell 1 or/and the lower shell 2; the swing type connecting arm 5a and the telescopic connecting arm 5b are fixed at the limit positions through pin shafts inserted into the outer positioning holes 9b and the inner positioning holes 5f respectively, and the detachable pin shafts are arranged in the outer positioning holes 9b respectively when the swing type connecting arm 5a and the telescopic connecting arm 5b move to the limit positions.
It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.
Claims (3)
1. An unmanned aerial vehicle power distribution network intelligent inspection system comprises an unmanned aerial vehicle and a ground station, wherein the unmanned aerial vehicle comprises a control module for controlling the flight attitude of the unmanned aerial vehicle and adjusting the operation mode of the unmanned aerial vehicle; the remote sensing monitoring module is used for acquiring, storing and transmitting routing inspection data; the transmission control module is used for controlling the actions of the rotor wing of the unmanned aerial vehicle and other structures; an energy module for providing electric energy for transmission control module and all kinds of remote sensing monitoring facilities, its characterized in that:
the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle with equal arm length, and the arm length is the distance from the rotor of the unmanned aerial vehicle to the center of the unmanned aerial vehicle; the unmanned aerial vehicle comprises a light shell, and the remote sensing monitoring module is arranged on the light shell;
the light shell comprises an upper shell (1) and a lower shell (2), wherein the upper shell (1) and the lower shell (2) are arranged just opposite to each other and are detachably connected through a side plate (3) arranged at the edge of the upper shell (1) and the lower shell (2); a camera (9a) in the remote sensing monitoring module is arranged on the front side of the lower end face of the lower shell (2), and a mutual inductance type electricity taking device receiving end (8a) is arranged in the middle of the lower end face of the lower shell (2); the intelligent electric power transmission line inspection system further comprises a parking apron uniformly arranged along the electric power transmission line to be inspected, and the parking apron comprises a parking flat plate and a mutual inductance type electricity taking device transmitting end arranged below the parking flat plate.
2. The intelligent inspection system for the power distribution network of the unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle is a tri-rotor unmanned aerial vehicle; the rotor wing of the unmanned aerial vehicle is connected to the light shell through three cylindrical connecting arms, and comprises swing type connecting arms (5a) positioned on two sides and telescopic type connecting arms (5b) positioned on the front side or the rear side;
the lower end face of the upper shell (1) and the upper end face of the lower shell (2) are respectively provided with a rotatable connecting column (6a), the two connecting columns (6a) are arranged oppositely, the opposite faces of the connecting columns (6a) are respectively provided with a groove (6b), one end of the swing type connecting arm (5a) is provided with a rotor motor (5c), and the other end of the swing type connecting arm extends into the middle of the opposite groove (6 b);
a limiting block (6c) is arranged on the outer side of the connecting column (6a), the limiting block (6c) is fixed between the upper shell (1) and the lower shell (2), a notch (6d) is formed in one side, facing the swing type connecting arm (5a), of the limiting block (6c), and the swing type connecting arm (5a) can be clamped into the notch (6 d);
a plurality of positioning frames (6e) distributed in the front-back direction of eyes are arranged between the upper shell (1) and the lower shell (2), and the retractable connecting arm (5b) penetrates through the middle of the positioning frames (6 e).
3. The intelligent unmanned aerial vehicle power distribution network inspection system according to claim 1, wherein a plurality of outer positioning holes (9b), swing type connecting arms (5a) and telescopic type connecting arms (5b) are further arranged on the upper shell (1) or/and the lower shell (2); the tail ends of the swing type connecting arms (5a) and the telescopic connecting arms (5b) are respectively provided with an inner positioning hole (5f), when the swing type connecting arms (5a) and the telescopic connecting arms (5b) move to the limit positions, the inner positioning holes (5f) can be respectively and coaxially opposite to the outer positioning holes (9b), each outer positioning hole (9b) is internally provided with a detachable pin shaft, and the swing type connecting arms (5a) and the telescopic connecting arms (5b) are fixed at the limit positions through the pin shafts inserted into the outer positioning holes (9b) and the inner positioning holes (5 f.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110825098A (en) * | 2019-11-18 | 2020-02-21 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle distribution network intelligence system of patrolling and examining |
| CN113671979A (en) * | 2021-08-24 | 2021-11-19 | 国网黑龙江省电力有限公司哈尔滨供电公司 | Unmanned aerial vehicle reset fixing device and landing positioning method applying same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110825098A (en) * | 2019-11-18 | 2020-02-21 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle distribution network intelligence system of patrolling and examining |
| CN110825098B (en) * | 2019-11-18 | 2024-05-07 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle distribution network intelligent inspection system |
| CN113671979A (en) * | 2021-08-24 | 2021-11-19 | 国网黑龙江省电力有限公司哈尔滨供电公司 | Unmanned aerial vehicle reset fixing device and landing positioning method applying same |
| CN113671979B (en) * | 2021-08-24 | 2024-03-08 | 国网黑龙江省电力有限公司哈尔滨供电公司 | Unmanned aerial vehicle resetting and fixing device and landing positioning method using same |
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