CN211568323U - Power line patrols line unmanned aerial vehicle - Google Patents
Power line patrols line unmanned aerial vehicle Download PDFInfo
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- CN211568323U CN211568323U CN201920840114.5U CN201920840114U CN211568323U CN 211568323 U CN211568323 U CN 211568323U CN 201920840114 U CN201920840114 U CN 201920840114U CN 211568323 U CN211568323 U CN 211568323U
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Abstract
The utility model provides a power line inspection unmanned aerial vehicle, which comprises a vehicle body, a motor and a screw, wherein the motor and the screw are arranged on the vehicle body, the motor controls the rotation of the screw, and the unmanned aerial vehicle also comprises a laser radar, a hanging cradle head, a tower rod detection device and a control device which are connected on the vehicle body; the obstacle removing equipment is hung on the hanging holder; the tower pole detection device comprises an image acquisition module and a laser ranging module, wherein the image acquisition module comprises 4 paths of image sensors, the image acquisition module identifies the power line tower pole, and the laser ranging module measures the distance between the current flight position and the power line tower pole. The utility model discloses a have the advantage of acquireing high accuracy laser point cloud and high resolution digital image fast, can obtain the relevant distance measuring data of transmission line.
Description
Technical Field
The utility model relates to an electric power patrols line technical field, more specifically relates to an electric power line patrols line unmanned aerial vehicle.
Background
As domestic power grids are continuously expanded, long-distance power transmission lines such as ultra (ultra) high-voltage lines are rapidly increased, and a plurality of power transmission lines are distributed in Chongshan mountains, daily patrol work needs to be carried out on power lines for daily maintenance of the power lines, updating of power ledger data, prevention of power accidents and other work. At present, electric power patrols line work and mainly is by power workman's mountain-climbing, adopts artifical observation or unmanned aerial vehicle image to look over to patrol current power line, has that operation intensity is big, the operation cycle is long, data are not directly perceived, the precision is low, the degree of recycling is not high and complicated regional shortcoming such as being difficult to work of topography.
With the continuous improvement of the requirement of power transmission, the power transmission grade is higher and higher, and the high-voltage/ultrahigh-voltage line patrol maintenance operation plays an important role in improving the safety, stability and efficiency of a power grid system. The region that transmission line was located is mostly the open-air that natural environment is abominable, traffic is block, and the power line receives mechanical pulling force, thunderbolt, temperature variation, sleet weather's influence for a long time in natural environment, and the tower pole slope appears easily, phenomenon such as circuit strand break, ageing, corruption, insulator on the power line tower pole also appears damaging in natural environment easily, and the growth of the peripheral trees of power line etc. all require to patrol and examine the power line. The traditional manual inspection mode adopts visual inspection, has the problems of low efficiency, high labor intensity, low inspection precision and the like, and in part of line inspection tasks, personnel can not reach the inspection mode, so that the efficiency and effectiveness of manual line inspection are greatly limited. The appearance of unmanned aerial vehicle machine carries laser radar system has improved the efficiency and the application scene that electric power patrolled the line to a certain extent, and unmanned aerial vehicle time of endurance is short, and flight path flight precision is low, can't accomplish long distance, high accuracy flight. Therefore, the development of long-distance and high-precision line patrol equipment is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a power line patrols line unmanned aerial vehicle, this unmanned aerial vehicle patrols line inefficiency, can't realize that long distance high accuracy patrols the line and still can clear up simultaneously to current circuit.
In order to achieve the above technical effects, the technical scheme of the utility model as follows:
an electric power line inspection unmanned aerial vehicle comprises a body, a motor, a propeller, a laser radar, a mounting cloud platform, a tower pole detection device and a control device, wherein the motor and the propeller are installed on the body, the motor controls the rotation of the propeller, and the laser radar, the mounting cloud platform, the tower pole detection device and the control device are connected to the body; the hanging holder is hung with obstacle clearing equipment.
Furthermore, the pole detection device comprises an image acquisition module and a laser ranging module, wherein the image acquisition module comprises 4 paths of image sensors, the image acquisition module identifies the power line pole, and the laser ranging module measures the distance between the current flight position and the power line pole.
Furthermore, the image acquisition module comprises 4 paths of cameras which are respectively arranged towards the right lower part, the left 30 degrees deviated from the right lower part, the right 30 degrees deviated from the right lower part and the right front.
Furthermore, the symmetrical motor wheel base of the machine body is 1550mm, the length of the single arm is 820mm, and the diameter of the machine body is 550 mm.
Further, the laser radar comprises a laser scanning system and a positioning and attitude determining system, the scanning frequency of the laser scanning system is 5-20 Hz, and the measurement precision is 3 cm.
Furthermore, the control device and the laser radar also comprise a multi-path camera, and the multi-path camera finishes image acquisition at multiple angles.
Further, the obstacle removing device mounted on the mounting holder is an electric saw.
Further, the chain rotating speed of the electric saw is 8M/S, and the idle rotating speed is 4600 revolutions.
Further, the obstacle removing equipment mounted on the mounting holder is a mechanical gripper.
The orientation precision of the orientation and attitude determination system is 0.019 degrees, and the gyro range is +/-400 degrees/s
Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:
the utility model has the advantages of acquire high accuracy laser point cloud and high resolution digital image fast, can obtain the relevant distance measuring data of transmission line, like the tree bamboo barricade in the passageway, alternately stride across (transmission line, high speed, river etc.), lead the safe distance between ground wire sag and each part of shaft tower etc.. The utility model discloses no matter to the trend selection design of newly-built circuit, still to the dangerous point inspection of patrolling line, circuit asset management and the various professional analysis of having built the circuit, all brought application mode and the technical advantage that traditional surveying and mapping means did not possess.
Drawings
Fig. 1 is a schematic structural view of the unmanned aerial vehicle of the present invention;
fig. 2 is a structural diagram of the unmanned aerial vehicle in embodiment 1;
fig. 3 is a structural diagram of the unmanned aerial vehicle in embodiment 2.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, an electric power line patrol unmanned aerial vehicle comprises a body 100, a motor and a propeller, wherein the motor and the propeller are installed on the body, the motor controls the rotation of the propeller (the specific structure of the unmanned aerial vehicle is a mature technology in the market, which is not described in detail herein, and certainly, a remote control device matched with the unmanned aerial vehicle is also provided, which is not described in detail herein), and the unmanned aerial vehicle further comprises a laser radar 220 connected to the body, a mounting cradle head 210, a tower rod detection device 230 and a control device 240; the obstacle removing device 211 is mounted on the mounting cradle head.
The tower detection device 230 comprises an image acquisition module 231 and a laser ranging module 232, the image acquisition module 231 comprises 4 paths of image sensors, the image acquisition module 231 identifies the power line tower, and the laser ranging module 232 measures the distance between the current flight position and the power line tower. In the power patrol, the situation of crossing or turning of the wires can occur, and the problems can be well solved by a plurality of cameras.
The image acquisition module 232 comprises 4 paths of cameras which are respectively arranged towards the right lower part, the left 30 degrees deviated from the right lower part, the right 30 degrees deviated from the right lower part and the right front; the symmetrical motor wheel base of the machine body is 1550mm, the length of the single arm is 820mm, and the diameter of the machine body is 550 mm.
The laser radar 220 comprises a laser scanning system 221 and a positioning and attitude determining system, wherein the scanning frequency of the laser scanning system is 5-20 Hz, and the measurement precision is 3 cm; the lidar further comprises a multi-path camera 222 which completes image acquisition at a plurality of angles. In the patrol process, surrounding environments such as surrounding trees and the like have influence on the power line, and a plurality of cameras can observe the objects from different angles. The camera can be done very little, and a plurality of cameras are integrated into a holistic module relatively easily, in the inspection of reality, can be without the direction of observation and the angle of adjustment camera, are favorable to simplifying the last auxiliary device of unmanned aerial vehicle.
The control device 240 is a core part of the whole set of equipment, and its main functions include data acquisition and processing of the laser radar 220, data acquisition and processing of the automatic tower and mast detection device 230 to realize obstacle detection, sending out a flight instruction and controlling the flow.
As shown in fig. 2, the obstacle removing device mounted on the mounting holder 210 is an electric saw; the chain rotation speed of the electric saw is 8M/S, and the idle rotation speed is 4600 revolutions.
The multifunctional mounting holder 210 is adjusted through the function keys of the unmanned aerial vehicle remote controller, so that the electric saw connected to the lower part of the multifunctional mounting holder is subjected to horizontal and vertical displacement, horizontal and vertical rotation, the posture of the electric saw is adjusted, and the electric saw can be effectively cut into obstacles during operation. After the posture is adjusted, the remote controller turns on a switch of the electric saw, and the electric saw starts to work to cut the obstacle.
The utility model has the advantages of acquire high accuracy laser point cloud and high resolution digital image fast, can obtain the relevant distance measuring data of transmission line, like the tree bamboo barricade in the passageway, alternately stride across (transmission line, high speed, river etc.), lead the safe distance between ground wire sag and each part of shaft tower etc.. The utility model discloses no matter to the trend selection design of newly-built circuit, still to the dangerous point inspection of patrolling line, circuit asset management and the various professional analysis of having built the circuit, all brought application mode and the technical advantage that traditional surveying and mapping means did not possess.
Example 2
As shown in fig. 1, an electric power line patrol unmanned aerial vehicle comprises a body 100, a motor, a propeller, a laser radar 220, a mounting platform 210, a tower rod detection device 230 and a control device 240, wherein the motor and the propeller are installed on the body, the motor controls the rotation of the propeller, and the laser radar 220, the mounting platform 210, the tower rod detection device 230 and the control device 240 are connected to the body; the obstacle removing device 211 is mounted on the mounting cradle head.
The tower detection device 230 comprises an image acquisition module 231 and a laser ranging module 232, the image acquisition module 231 comprises 4 paths of image sensors, the image acquisition module 231 identifies the power line tower, and the laser ranging module 232 measures the distance between the current flight position and the power line tower.
The image acquisition module 232 comprises 4 paths of cameras which are respectively arranged towards the right lower part, the left 30 degrees deviated from the right lower part, the right 30 degrees deviated from the right lower part and the right front; the symmetrical motor wheel base of the machine body is 1550mm, the length of the single arm is 820mm, and the diameter of the machine body is 550 mm.
The laser radar 220 comprises a laser scanning system 221 and a positioning and attitude determining system, wherein the scanning frequency of the laser scanning system is 5-20 Hz, and the measurement precision is 3 cm; the lidar further comprises a multi-path camera 222 which completes image acquisition at a plurality of angles.
The control device 240 is a core part of the whole set of equipment, and its main functions include data acquisition and processing of the laser radar 220, data acquisition and processing of the automatic tower and mast detection device 230 to realize obstacle detection, sending out a flight instruction and controlling the flow.
As shown in fig. 3, the obstacle removing device mounted on the mounting platform is a mechanical gripper.
The multifunctional mounting holder 210 is adjusted through the function keys of the unmanned aerial vehicle remote controller, so that the mechanical gripper connected to the lower portion of the multifunctional mounting holder is horizontally and vertically displaced and horizontally and vertically rotated, the posture of the electric saw is adjusted, and the mechanical gripper can effectively cut the obstacle during operation. After the posture is adjusted, the remote controller turns on a switch of the electric saw, and the mechanical gripper starts to work to grip and separate the obstacle.
The orientation precision of the positioning and attitude-determining system is 0.019 degrees, and the gyro range is +/-400 degrees/s.
The utility model has the advantages of acquire high accuracy laser point cloud and high resolution digital image fast, can obtain the relevant distance measuring data of transmission line, like the tree bamboo barricade in the passageway, alternately stride across (transmission line, high speed, river etc.), lead the safe distance between ground wire sag and each part of shaft tower etc.. The utility model discloses no matter to the trend selection design of newly-built circuit, still to the dangerous point inspection of patrolling line, circuit asset management and the various professional analysis of having built the circuit, all brought application mode and the technical advantage that traditional surveying and mapping means did not possess.
The same or similar reference numerals correspond to the same or similar parts;
the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. An electric power line inspection unmanned aerial vehicle comprises a body, a motor and a propeller, wherein the motor and the propeller are mounted on the body, and the motor controls the rotation of the propeller; the obstacle removing equipment is hung on the hanging holder;
the pole detection device comprises an image acquisition module and a laser ranging module, wherein the image acquisition module comprises 4 paths of image sensors, the image acquisition module identifies the power line pole, and the laser ranging module measures the distance between the current flight position and the power line pole.
2. The power line patrol unmanned aerial vehicle according to claim 1, wherein the image acquisition module comprises 4 paths of cameras, and the cameras are respectively arranged towards the right below, the left 30 degrees with the right below, the right 30 degrees with the right below and the front.
3. The power line patrol unmanned aerial vehicle according to any one of claims 1-2, wherein the symmetrical motor wheelbase of the body is 1550mm, the single arm length is 820mm, and the diameter of the body is 550 mm.
4. The power line patrol unmanned aerial vehicle according to any one of claims 1-2, wherein the laser radar comprises a laser scanning system and a positioning and attitude determination system, the scanning frequency of the laser scanning system is 5-20 Hz, and the measurement precision is 3 cm.
5. The power line patrol unmanned aerial vehicle of claim 4, wherein the control device and the lidar further comprise a multi-camera, and the multi-camera performs image acquisition at multiple angles.
6. The power line patrol unmanned aerial vehicle according to claim 5, wherein the obstacle removing device mounted on the mounting cradle head is an electric saw.
7. The power line patrol unmanned aerial vehicle of claim 6, wherein the chain speed of the electric saw is 8M/S, and the idling speed is 4600 revolutions.
8. The power line patrol unmanned aerial vehicle according to claim 7, wherein the obstacle clearing device mounted on the mounting cradle head is a mechanical gripper.
9. The power line patrol unmanned aerial vehicle of claim 8, wherein the orientation precision of the positioning and attitude determination system is 0.019 degrees, and the gyro range is ± 400 °/s.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920840114.5U CN211568323U (en) | 2019-06-04 | 2019-06-04 | Power line patrols line unmanned aerial vehicle |
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| CN201920840114.5U CN211568323U (en) | 2019-06-04 | 2019-06-04 | Power line patrols line unmanned aerial vehicle |
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| CN211568323U true CN211568323U (en) | 2020-09-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022869A (en) * | 2021-03-02 | 2021-06-25 | 郑州工业应用技术学院 | Line inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022869A (en) * | 2021-03-02 | 2021-06-25 | 郑州工业应用技术学院 | Line inspection robot |
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