WO2022105750A1 - 一种节能输电线路巡线无人机 - Google Patents

一种节能输电线路巡线无人机 Download PDF

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Publication number
WO2022105750A1
WO2022105750A1 PCT/CN2021/130926 CN2021130926W WO2022105750A1 WO 2022105750 A1 WO2022105750 A1 WO 2022105750A1 CN 2021130926 W CN2021130926 W CN 2021130926W WO 2022105750 A1 WO2022105750 A1 WO 2022105750A1
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Prior art keywords
drone
unmanned aerial
aerial vehicle
wheel
transmission line
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PCT/CN2021/130926
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English (en)
French (fr)
Inventor
徐拥华
周光乐
顾志伟
黄炎阶
徐军飞
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衢州光明电力投资集团有限公司赋腾科技分公司
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Publication of WO2022105750A1 publication Critical patent/WO2022105750A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface  wheeled type, e.g. multi-wheeled bogies
    • B64C25/36—Arrangements or adaptations of wheels, tyres or axles in general
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/24—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with rotor blades fixed in flight to act as lifting surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/39—Battery swapping
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Definitions

  • the invention relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle for line inspection of outdoor transmission lines.
  • drones are usually used to patrol the lines instead of staff.
  • Many high-voltage transmission lines are erected in mountains and mountains, and relying solely on staff to patrol the lines is a huge workload.
  • the advantage of drone line patrol is that it saves manpower, and it can fly over mountains and mountains under the control of the staff, which greatly reduces the workload of the staff.
  • the present invention discloses an energy-saving transmission line inspection drone, which increases the cruising capability of the drone by reducing the flight energy consumption of the drone.
  • the invention discloses an energy-saving unmanned aerial vehicle for power transmission line inspection, comprising an unmanned aerial vehicle body.
  • the front part is provided with a camera module
  • the bottom of the drone body is also provided with a wheel frame
  • the wheel frame is provided with a roller
  • the roller is connected with the wheel frame through the wheel shaft
  • the controller controls the walking motor to drive the wheel shaft to rotate through the wheel frame , while driving the roller to rotate, and the roller is provided with a groove around the outer edge of the roller.
  • the bottom of the drone body is provided with a tripod, and the tripod is provided with a battery compartment.
  • the purpose is to make the center of gravity of the entire drone lower.
  • a replaceable battery is arranged in the battery compartment.
  • the battery can be quickly replaced, which is convenient for the staff to carry the drone to the next line to patrol the line without waiting for the charging process.
  • the drone body is connected to the drone wing through a wing connecting rod, one end of the wing connecting rod is connected to the drone body, and the other end is connected to the drone wing, and the wing connecting rod is connected to the drone body. It can rotate up and down around the drone body. The purpose is to lower the wing to move the overall center of gravity down when the UAV flies over the transmission line, maintain the balance of the UAV on the transmission line, and increase the stability of the UAV on the transmission line.
  • the advantage of the invention is that: in order to increase the endurance of the drone, when the drone flies over the transmission line, the drone can be controlled to land on the transmission line, and the rollers installed at the lower part of the drone can travel along the transmission line. , at this time, the UAV's wing is in an idle state, reducing energy consumption and increasing battery life, and the UAV's wing descends when the UAV is driving on the transmission line, so that the center of gravity of the entire UAV is lowered again to ensure that no one is unmanned.
  • the smooth running of the machine on the power line in order to increase the endurance of the drone, when the drone flies over the transmission line, the drone can be controlled to land on the transmission line, and the rollers installed at the lower part of the drone can travel along the transmission line. , at this time, the UAV's wing is in an idle state, reducing energy consumption and increasing battery life, and the UAV's wing descends when the UAV is driving on the transmission line, so that the center of gravity of the
  • Figure 1 is a schematic diagram of the overall structure of the drone when it is flying
  • Figure 2 is a schematic structural diagram of a drone running on a power line
  • the present invention discloses an energy-saving transmission line inspection drone, which includes a drone body 3, and the drone body 3 includes a controller.
  • the drone body 3 is connected to whether The human-machine wing 1 is connected with the drone body 3 through the wing connecting rod 2 .
  • the front part of the drone body 3 is provided with a camera module 4, and the bottom of the drone body 3 is also provided with a wheel frame 6, on which is provided a roller 8, and the roller 8 passes through the wheel shaft 7 and the wheel frame 6 Connection, the controller controls the rotation of the wheel shaft 7 through the wheel frame 6, and drives the roller 8 to rotate, and the roller 8 is provided with a groove 8.1 around the outer edge of the roller 8.
  • the bottom of the drone body 3 is provided with a tripod 10 , and the tripod 10 is provided with a battery compartment 5 .
  • the purpose is to make the center of gravity of the entire drone lower.
  • the battery compartment 5 is provided with a replaceable battery. The battery can be quickly replaced, which is convenient for the staff to carry the drone to the next line to patrol the line without waiting for the charging process.
  • the working mode of the energy-saving transmission line patrol drone disclosed in the present invention is as follows:
  • the drone is controlled to take off by the remote control, the wing connecting rod 2 rotates around the drone body 3, the drone wing 1 rises, and enters the flying state, the drone wing 1 rotates at full speed, no
  • the man-machine takes off and flies to the top of the transmission line 9 to patrol the line.
  • the ground staff observes the real-time data collected by the camera module 4 and controls the drone to stop on the transmission line 9 .
  • the drone is parked on the power line 9, which is located in the groove 8.1.
  • the wing connecting rod 2 can be controlled to rotate around the drone body 3 through the remote controller, and the drone wing 1 enters an idle state when the wing connecting rod 2 rotates downward.
  • the wing 1 of the UAV is lowered, so that the center of gravity of the entire UAV is lowered, so that the UAV can drive on the power line 9 more smoothly.
  • the drone can be controlled by the remote control. Take off again, cross the porcelain bottle or iron tower, stop on the power line 9 in front again, and continue to move forward. Therefore, during the entire line patrol process, there is not much time to fly, which greatly increases the endurance of the drone.
  • the power consumption of the drone entering the idle state is much lower than the power required for the drone to fly, so the power consumption of the drone when driving on the power line 9 is reduced, so the endurance is increased.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了一种节能输电线路巡线无人机，属于无人机技术领域，包括无人机本体，所述无人机本体内包括控制器，无人机本体上连接有无人机机翼，无人机本体前部设有摄像模块，所述无人机本体底部还设有轮架，所述轮架上设有滚轮，所述滚轮通过轮轴与轮架连接，控制器通过轮架控制轮轴转动，带动滚轮转动，所述滚轮绕滚轮外沿设有凹槽。其优点在于：使无人机在巡线过程中无需全程飞行，大部分时间处于怠速状态，能耗减少，续航能力增强，巡线距离增加。

Description

一种节能输电线路巡线无人机 技术领域
本发明涉及一种无人机，尤其涉及户外输电线路巡线用无人机。
背景技术
现在为了对户外的输电线路进行巡线，通常会使用无人机来代替工作人员进行巡线。很多高压输电线架设在崇山峻岭之中，单纯依靠工作人员去巡线，工作量十分巨大。无人机巡线的好处在于节省人力，且可以在工作人员的控制下飞越崇山峻岭，极大减轻工作人员的工作量。
但是使用无人机进行巡线存在一个问题，便是无人机的续航问题。无人机起飞后由于无人机内的电池电量是固定的，因此其工作半径固定，起飞后需要在一定路程后返程，对巡线工作带来一定困扰。如若可以增加无人机的工作半径，这样就会减少无人机的充电次数或者更换电池次数，减轻工作人员的工作量。
发明内容
为了解决上述技术问题，本发明公开了一种节能的输电线路巡线无人机，通过减少无人机的飞行能耗来增加无人机的巡航能力。
本发明的技术方案如下：
本发明公开了一种节能的输电线路巡线无人机，包括无人机本体，所述无人机本体内包括控制器，无人机本体上连接有无人机机翼，无人机本体前部设有摄像模块，所述无人机本体底部还设有轮架，所述轮架上设有滚轮，所述滚轮通过轮轴与轮架连接，控制器控制行走马达通过轮架带动轮轴转动，同时带动滚轮转动，所述滚轮绕滚轮外沿设有凹槽。
作为优选的，所述无人机本体底部设有脚架，所述脚架上设有电池仓。目的在于使整个无人机的重心偏下。
进一步的，所述电池仓内设有可更换的电池。可快速更换电池，方便工作人员携带无人机去下一巡线段进行巡线，无需等待充电过程。
作为优选的，所述无人机本体通过机翼连接杆与无人机机翼连接，所述机翼连接杆一端连接无人机本体，一端连接无人机机翼，所述机翼连接杆可绕无人机本体上下转动。其目的在于当无人机飞到输电线路上方时，降下机翼使整体的重心再下移，保持无人机在输电线路停留的平衡，增加无人机在输电线路上的稳定性。
本发明的好处在于：为了增加无人机的续航能力，当无人机飞到输电线路上方时，可以控制无人机降落在输电线上，通过安装在无人机下部的滚轮沿输电线行驶，此时无人机 机翼处于怠速状态，减少能耗，增加续航，且无人机机翼在无人机在输电线上行驶时下降，使整个无人机的重心再降低，保证无人机在输电线上的平稳行驶。
附图说明
图1为无人机飞行时的整体结构示意图；
图2为无人机在输电线上行驶的结构示意图；
1、无人机机翼；2、机翼连接杆；3、无人机本体；4、摄像模块；5、电池仓；6、轮架；7、轮轴；8、滚轮；8.1、凹槽；9、输电线；10、脚架。
具体实施方式
以下结合说明书附图对本发明做进一步说明。
如图1所示，本发明公开了一种节能的输电线路巡线无人机，包括无人机本体3，所述无人机本体3内包括控制器，无人机本体3上连接有无人机机翼1，所述无人机机翼1通过机翼连接杆2与无人机本体3连接。无人机本体3前部设有摄像模块4，所述无人机本体3底部还设有轮架6，所述轮架6上设有滚轮8，所述滚轮8通过轮轴7与轮架6连接，控制器通过轮架6控制轮轴7转动，带动滚轮8转动，所述滚轮8绕滚轮8外沿设有凹槽8.1。所述无人机本体3底部设有脚架10，所述脚架10上设有电池仓5。目的在于使整个无人机的重心偏下。进一步的，所述电池仓5内设有可更换的电池。可快速更换电池，方便工作人员携带无人机去下一巡线段进行巡线，无需等待充电过程。
本发明所公开的节能输电线路巡线无人机的工作方式如下：
如图1所示，通过遥控器控制无人机起飞，机翼连接杆2绕无人机本体3转动，无人机机翼1上升，进入飞行状态，无人机机翼1全速转动，无人机飞起，飞至输电线9上方进行巡线，通过地面的工作人员观察结合摄像模块4采集的实时数据，控制无人机停在输电线9上。如图2所示，无人机停在输电线9上，输电线9位于凹槽8.1中。在本发明中，可以通过遥控器控制机翼连接杆2绕无人机本体3转动，无人机机翼1在机翼连接杆2向下转动时进入怠速状态。无人机机翼1下降，使整个无人机的重心下降，使无人机可以更平稳地在输电线9上行驶。无人机在输电线9上行驶时一旦地面的工作人员通过肉眼观察或者摄像模块4拍摄发现无人机前方出现瓷瓶或者铁塔等单凭滚轮8无法通过的结构，可以通过遥控器控制无人机再次起飞，越过瓷瓶或铁塔，再次停在前方的输电线9上，继续向前，因此整个巡线过程中，需要飞行的时候不多，极大增加了无人机的续航能力。
进入怠速状态的无人机的能耗远低于无人机飞行时所需要的电量，所以无人机在输电线9上行驶时其能耗减少，因此续航能力增加。

Claims (4)

  1. 一种节能输电线路巡线无人机，其特征在于：包括无人机本体，所述无人机本体内包括控制器，无人机本体上连接有无人机机翼，无人机本体前部设有摄像模块，所述无人机本体底部还设有轮架，所述轮架上设有滚轮，所述滚轮通过轮轴与轮架连接，控制器通过轮架控制轮轴转动，带动滚轮转动，所述滚轮绕滚轮外沿设有凹槽。
  2. 如权利要求1所述的一种节能输电线路巡线无人机，其特征在于：所述无人机本体底部设有脚架，所述脚架上设有电池仓。
  3. 如权利要求2所述的一种节能输电线路巡线无人机，其特征在于：所述电池仓内设有可更换的电池。
  4. 如权利要求1所述的一种节能输电线路巡线无人机，其特征在于：还包括机翼连接杆，所述机翼连接杆一端连接无人机本体，一端连接无人机机翼，所述机翼连接杆可绕无人机本体上下转动。
PCT/CN2021/130926 2020-11-18 2021-11-16 一种节能输电线路巡线无人机 WO2022105750A1 (zh)

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CN214190108U (zh) * 2020-11-18 2021-09-14 衢州光明电力投资集团有限公司赋腾科技分公司 一种节能输电线路巡线无人机

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