CN218343727U - Unmanned aerial vehicle fused multi-view real-time monitoring system for distribution network live working robot - Google Patents
Unmanned aerial vehicle fused multi-view real-time monitoring system for distribution network live working robot Download PDFInfo
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- CN218343727U CN218343727U CN202221708889.5U CN202221708889U CN218343727U CN 218343727 U CN218343727 U CN 218343727U CN 202221708889 U CN202221708889 U CN 202221708889U CN 218343727 U CN218343727 U CN 218343727U
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Abstract
The embodiment of the utility model provides a fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in marriage net electrified work robot belongs to the fortune dimension technical field who joins in marriage net area electric robot. The real-time monitoring system comprises: the fixed camera is arranged on the site of distribution network live working and is used for observing macro images of a plurality of positions on the site; the unmanned aerial vehicle is used for receiving instructions to fly to a preset position on the scene; the holder camera is carried on the unmanned aerial vehicle and used for observing the amplified image of the preset position; the wireless image transmission unit is connected with the fixed camera, the unmanned aerial vehicle and the holder camera; and the ground end controller is connected with the wireless image transmission unit and is used for controlling the work of the fixed camera, the unmanned aerial vehicle and the holder camera through the wireless image transmission unit. This real-time monitoring system is through adopting fixed camera, unmanned aerial vehicle and cloud platform camera complex form for the staff can observe the clear image of each position on scene.
Description
Technical Field
The utility model relates to a join in marriage fortune dimension technical field that net area electric robot, concretely relates to fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in marriage net electrified operation robot.
Background
The traditional manual live working has the disadvantages of large workload, high risk coefficient, severe environment and casualty accidents. Therefore, in recent years, the development of a robot capable of replacing people for live working of an overhead line has attracted more and more attention, and a multi-view real-time monitoring system is one of the current research hotspots.
Join in marriage net live working robot and need ground teleoperation personnel to obtain the multi-view visual feedback around the robot when actual operation, join in marriage net live working robot and obtain the visual feedback of robot actual running state mostly through fixing a plurality of monocular cameras on the robot platform in the tradition, these visual feedbacks are comparatively fixed and receive the platform easily and rock the interference and lead to the vision fuzzy, fixed multi-view visual feedback is difficult to focus on the operation target that operating personnel need observe most simultaneously, and be subject to the bucket arm car and can't be close to high tension line closely, the camera is shot and is far away the definition low.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in marriage net live working robot, through this real-time monitoring system, the clear image of each position of scene can be observed to the staff.
In order to realize the above object, the embodiment of the utility model provides a fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in net electrified work robot, include:
the fixed camera is arranged on the site of distribution network live working and is used for observing macro images of a plurality of positions on the site;
the unmanned aerial vehicle is used for receiving instructions to fly to a preset position on the scene;
the holder camera is carried on the unmanned aerial vehicle and used for observing the amplified image of the preset position;
the wireless image transmission unit is connected with the fixed camera, the unmanned aerial vehicle and the holder camera;
and the ground end controller is connected with the wireless image transmission unit and is used for controlling the work of the fixed camera, the unmanned aerial vehicle and the holder camera through the wireless image transmission unit.
Optionally, the real-time monitoring system includes a robot platform, which is disposed on site;
and the fixed camera is carried on the robot platform and used for observing the macroscopic image along with the rotation of the robot platform.
Optionally, the pan-tilt camera is a three-axis self-stabilizing pan-tilt camera.
Optionally, the bottom of unmanned aerial vehicle is provided with the guard plate, set up in between every two axles of triaxial self-stabilization pan-tilt camera.
Optionally, the pan-tilt camera is disposed at a bottom of the drone.
Optionally, the ground-end controller comprises a monitor for displaying the transmitted images and the operating status of the fixed camera, the drone and the pan-tilt camera.
Optionally, the ground-end controller further comprises a mobile controller connected to the monitor for the operator to input the command.
Optionally, the wireless image transmission unit includes a local area network data transmission module or a 5G communication module.
Through the technical scheme, the utility model provides a fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in marriage net live working robot is through adopting fixed camera, unmanned aerial vehicle and cloud platform camera complex form for the staff can observe the clear image of each position at scene.
Other features and advantages of embodiments of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments, but do not limit the embodiments. In the drawings:
fig. 1 is a block diagram of a multi-view real-time monitoring system of a distribution network live working robot integrated with an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of a multi-view real-time monitoring system of a distribution network live working robot integrated with an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a three-axis self-stabilization pan-tilt camera according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a three-axis self-stabilizing pan-tilt camera according to an embodiment of the present invention;
fig. 5 is a block diagram of a multi-view real-time monitoring system of a distribution network live working robot integrated with an unmanned aerial vehicle according to an embodiment of the present invention.
Description of the reference numerals
01. Fixed camera 02 and unmanned aerial vehicle
03. Pan-tilt camera 04 and wireless image transmission unit
05. Ground controller 03a, guard plate
05a, monitor 05b, mobile controller
Detailed Description
The following describes in detail embodiments of the present invention with reference to the accompanying drawings. It is to be understood that the description herein is only intended to illustrate and explain embodiments of the present invention, and is not intended to limit embodiments of the present invention.
In the embodiments of the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, top, and bottom" is generally used with respect to the orientation shown in the drawings or the positional relationship between the components in the vertical, or gravitational direction.
In addition, if there is a description in the embodiments of the present invention referring to "first", "second", etc., the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments can be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or can not be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Fig. 1 is a block diagram of a multi-view real-time monitoring system of a distribution network live working robot integrated with an unmanned aerial vehicle according to an embodiment of the present invention. In this fig. 1, the real-time monitoring system may include a fixed camera 01, an unmanned aerial vehicle 02, a pan-tilt camera 03, a wireless image transmission unit 04, and a ground-side controller 05.
The fixed camera 01 can be arranged on the site of distribution network live working to observe macro images of a plurality of positions on the site. The drone 02 may be used to receive instructions to fly to a predetermined location on site. The pan-tilt camera 03 can be mounted on the drone for observing the magnified image of the predetermined location. Wireless picture passes unit 03 and is connected with fixed camera 01, unmanned aerial vehicle 02 and cloud platform camera 03, can be used for transmitting communication data. Ground end controller 05 can be connected with wireless image transmission unit 04 for through the work of this wireless image transmission unit 04 control fixed camera 01, unmanned aerial vehicle 02 and cloud platform camera 03.
When the real-time monitoring system works, a worker can switch on the fixed camera 01 through the ground-end controller 05 to observe a macroscopic image of a field. However, when the staff needs to observe the image at a certain position of the scene, the fixed camera 01 cannot move, so that the unmanned aerial vehicle 02 is required to carry the pan-tilt camera 03 to go to the position to shoot a clear magnified image. The wireless map transmission unit 04 is installed in the field, and may be used to complete transmission of communication data.
In this embodiment, to improve the coverage of the macro image captured by the fixed camera 01, the real-time monitoring system may include a robot platform 06, as shown in fig. 2. The robot platform 06 may be located in the field. The stationary camera 01 may be mounted on the robot platform 06 for rotation with the robot platform 06 to improve coverage of the macro image.
The specific structure of the pan/tilt camera 03 may be various types known to those skilled in the art. However, consider that the staff is not on the spot when remote control unmanned aerial vehicle 02, need observe the barrier condition of a plurality of directions such as unmanned aerial vehicle front and back simultaneously, consequently the utility model discloses an in one embodiment, this cloud platform camera 02 can be triaxial self-stabilization cloud platform camera. The specific structure of the triaxial self-stabilizing pan-tilt camera can be as shown in fig. 3, and the pitch angle, the roll angle and the yaw angle of the pan-tilt are controlled by three independent brushless direct current motors, so that the self-stabilizing and multi-angle stepless control of the triaxial self-stabilizing pan-tilt camera is realized. Unmanned aerial vehicle 02 can be controlled by the operating personnel near ground end controller 05, after flying to suitable distance, adjusts cloud platform angle for the triaxial is from steady cloud platform camera and is obtained the best vision feedback of operation target. Further, considering that the mechanical structure of the pan-tilt camera 03 is relatively fragile, it is easy to be damaged by collision with obstacles during flight. Therefore, as shown in fig. 4, the bottom of the unmanned aerial vehicle 02 may be provided with a protection plate 03a, and the protection plate 03a may be disposed between every two axes of the three-axis self-stabilization pan-tilt camera, so as to achieve the purpose of protection even when the pan-tilt camera 03 is not obstructed from taking pictures.
In this embodiment, as for the specific configuration of the ground-side controller 05, the ground-side controller 05 may be any configuration known to those skilled in the art, provided that the input and transmission of control commands can be realized. In one example of the present invention, as shown in fig. 5, the ground-end controller 05 may include a monitor 05a. This monitor 05a can be used to display the images transmitted and the current operating state of the fixed camera 01, the drone 02 and the pan-tilt-camera 03. Further, the ground-end controller 05 may further include a mobile controller 05b for the convenience of the worker. The motion controller 05b may be connected to the monitor 05a and used for input of instructions by the staff.
In addition, the wireless map transmission unit 04 may be used to complete data transmission of control commands, flight status data of the unmanned aerial vehicle, status data of the robot platform, and the like, and may be used to transmit data of the captured image. For a specific data interaction form between the wireless image transmission unit 04 and the fixed camera 01, the unmanned aerial vehicle 02 and the pan-tilt camera 03, various modes known to those skilled in the art can be used. However, the wireless image transmission unit 04 may include a local area network data transmission module and/or a 5G communication module in consideration of data transmission amount and data transmission distance.
Through the technical scheme, the utility model provides a fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in marriage net live working robot is through adopting fixed camera, unmanned aerial vehicle and cloud platform camera complex form for the staff can observe the clear image of each position at scene.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. The utility model provides a fuse unmanned aerial vehicle's many visual angles real-time monitoring system who joins in marriage net live working robot, its characterized in that, real-time monitoring system includes:
the fixed camera is arranged on the site of distribution network live working and is used for observing macro images of a plurality of positions on the site;
the unmanned aerial vehicle is used for receiving instructions to fly to a preset position on the scene;
the holder camera is carried on the unmanned aerial vehicle and used for observing the amplified image of the preset position;
the wireless image transmission unit is connected with the fixed camera, the unmanned aerial vehicle and the holder camera;
and the ground end controller is connected with the wireless image transmission unit and is used for controlling the work of the fixed camera, the unmanned aerial vehicle and the holder camera through the wireless image transmission unit.
2. The real-time monitoring system of claim 1, wherein the real-time monitoring system comprises a robotic platform disposed on site;
a fixed camera is mounted on the robot platform for viewing the macro image as the robot platform rotates.
3. The real-time monitoring system of claim 1, wherein the pan-tilt camera is a three-axis self-stabilized pan-tilt camera.
4. The real-time monitoring system of claim 3, wherein the bottom of the unmanned aerial vehicle is provided with a protection plate, and the protection plate is arranged between every two axes of the three-axis self-stabilizing pan-tilt camera.
5. The real-time monitoring system of claim 1, wherein the pan-tilt camera is disposed at a bottom of the drone.
6. The real-time monitoring system of claim 1, wherein the ground-end controller comprises a monitor for displaying the transmitted images and the operating status of the fixed camera, the drone and the pan-tilt camera.
7. The real-time monitoring system of claim 6, wherein the ground-side controller further comprises a mobile controller connected to the monitor for a worker to input the command.
8. The real-time monitoring system of claim 1, wherein the wireless map transmission unit comprises a local area network data transmission module or a 5G communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221708889.5U CN218343727U (en) | 2022-07-01 | 2022-07-01 | Unmanned aerial vehicle fused multi-view real-time monitoring system for distribution network live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221708889.5U CN218343727U (en) | 2022-07-01 | 2022-07-01 | Unmanned aerial vehicle fused multi-view real-time monitoring system for distribution network live working robot |
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| Publication Number | Publication Date |
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| CN218343727U true CN218343727U (en) | 2023-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221708889.5U Active CN218343727U (en) | 2022-07-01 | 2022-07-01 | Unmanned aerial vehicle fused multi-view real-time monitoring system for distribution network live working robot |
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| CN (1) | CN218343727U (en) |
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2022
- 2022-07-01 CN CN202221708889.5U patent/CN218343727U/en active Active
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