CN109398702A - A kind of line of fall device and its line of fall method dropproof based on unmanned plane - Google Patents
A kind of line of fall device and its line of fall method dropproof based on unmanned plane Download PDFInfo
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- CN109398702A CN109398702A CN201811315105.0A CN201811315105A CN109398702A CN 109398702 A CN109398702 A CN 109398702A CN 201811315105 A CN201811315105 A CN 201811315105A CN 109398702 A CN109398702 A CN 109398702A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007689 inspection Methods 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000000630 rising effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a kind of line of fall device dropproof based on unmanned plane and its line of fall method, and line of fall device is mounted on uav bottom, and walking wheel component is mounted on uav bottom；Camera is mounted on against the position of design landing route, and the shooting auxiliary line being aligned with design landing route is provided in camera shooting picture.The application is controlled above unmanned plane during flying to the actual track for needing inspection by control system, the position and direction of adjustment unmanned plane are aligned the shooting auxiliary line of camera with actual track, then control unmanned plane is vertically lowered on actual track, driving walking wheel component completes line data-logging, it realizes unmanned plane and stops falling on the line then progress inspection, both solved the problems, such as that unmanned plane led to not long line inspection since flying distance is too short, it solves the problems, such as again offline difficult on line data-logging device, therefore solving traditional unmanned plane can not be efficient, along accurately the technical issues of inspection.
Description
Technical field
This application involves unmanned plane equipment technical field more particularly to a kind of line of fall device dropproof based on unmanned plane and
Its line of fall method.
Background technique
Ultra-high-tension power transmission line is the key that bridge joint power plant and substation, substation and substation, substation and power distribution room etc.
Point.Ultra-high-tension power transmission line safe and stable operation is one of the guarantee of its power supply area sustained economic development.Existing ultra-high-tension power transmission line
Substantially overhead transmission line is exposed to throughout the year in various environment, due to by line stress, mechanical stress, oxidation etc.
It influences, route will appear stranded, failure of getting rusty, and fitting corrodes the defects of disabling problem.If finding and handling these not in time to lack
The problem of falling into, will cause line fault, power supply area is caused to have a power failure.To ensure that it can continually and steadily work, need periodically to be patrolled
Inspection sees that ultra-high-tension power transmission line, can long-term stable operation with the presence or absence of defect, in time replacement damage or defective part.
Existing frequently-used HV Transmission Line Routing Inspection is mainly include the following types: the first is range estimation or telescope along artificial
Observation.Since most ultra-high-tension power transmission line local environment is all more complicated, needs track walker to cross over mountain after mountain, related to across river
The problems such as water, there are great work intensity and low measuring accuracies；Second is that heligyro carries test equipment inspection, although surveying
It is high to try precision, but its flight is easy to be influenced by weather, it is expensive；The third is unmanned plane inspection, although flexibility is good
And measuring accuracy is higher.But its cruising ability is poor, and flying distance is difficult to meet the needs of long line inspection；4th kind is overhead power transmission
Line robot inspection, but its design difficulty is big and online offline difficulty, is not also widely applied at present.Therefore, it studies
How efficiently and accurately inspection along the line has great importance to HV Transmission Line Routing Inspection field.
Summary of the invention
This application provides a kind of line of fall device and its line of fall method dropproof based on unmanned plane, it is traditional for solving
Unmanned plane can not efficiently and accurately along inspection the technical issues of.
The application first aspect provides a kind of line of fall device dropproof based on unmanned plane, and the line of fall device is installed on institute
State on unmanned plane, the line of fall device is mounted on the uav bottom, the line of fall device include: control system, camera,
Walking wheel component；
The walking wheel component is mounted on the uav bottom, for supporting institute when the unmanned plane drops on line
State unmanned plane movement；
The camera be mounted on against design landing route position, and be provided in the camera shooting picture with
The shooting auxiliary line of design landing route alignment；
The control system connects the unmanned plane, the camera and the walking wheel component, for controlling the nothing
Above man-machine flight to the actual track for needing inspection, the position and direction for adjusting the unmanned plane make the shooting of the camera
Auxiliary line is aligned with actual track, is then controlled the unmanned plane and is vertically lowered on actual track, and the walking wheel portion is driven
Part completes line data-logging.
Preferably, which further includes fall-proofing device；
The fall-proofing device is specially the gripper that can include route；
The control system connects the fall-proofing device, and for dropping in unmanned plane, rear control on route is described to be prevented falling
Dropping control device includes the route.
Preferably, the fall-proofing device specifically includes: arc pawl, servo motor and its controller of gear engagement are fallen
Line pedestal and arc pawl connector；
The line of fall pedestal is mounted on the uav bottom；
The arc pawl of the gear engagement is mounted on the line of fall pedestal；
The arc pawl connector connects the arc pawl of the engagement of the gear on the line of fall pedestal；
The servo motor and its controller connect the gear of the arc pawl of the gear engagement, for controlling the arc
Pawl opening and closing.
It preferably, further include undercarriage；
The shape of the undercarriage is several fonts, and the groove of the undercarriage is identical as design landing place on line.
Preferably, two side bottoms of the undercarriage are equipped with the battery compartment that can load identical or different weight battery.
Preferably, which further includes sensor module, and the sensor module includes radar, GPS sensor, distance biography
Sensor, velocity sensor, stability sensor, Temperature Humidity Sensor.
Preferably, the walking wheel component includes two, is separately positioned on the front and back of the uav bottom.
Preferably, the walking wheel component includes: traveling wheel, traction drive motor and walking wheeling support；
The walking wheeling support is mounted on the unmanned plane；
The traveling wheel is mounted on the walking wheeling support；
The traction drive motor connects the traveling wheel, is used to provide the described the power of traveling wheel.
The application second aspect provides a kind of line of fall method dropproof based on unmanned plane, by such as above-mentioned first aspect
It is executed based on the dropproof line of fall device of unmanned plane, comprising:
Above control unmanned plane during flying to the actual track for needing inspection；
The position and direction for adjusting the unmanned plane are aligned the shooting auxiliary line of the camera with actual track；
The unmanned plane is controlled to be vertically lowered on actual track；
The walking wheel component is driven to complete line data-logging.
Preferably, before the step control unmanned plane is vertically lowered on actual track further include:
Control fall-proofing device becomes open configuration；
After the step control unmanned plane is vertically lowered on actual track further include:
Control fall-proofing device becomes closed state, so that fall-proofing device includes actual track.
As can be seen from the above technical solutions, the application has the following advantages:
The application provides a kind of line of fall device dropproof based on unmanned plane and its line of fall method, the line of fall device installation
In on the unmanned plane, the line of fall device is mounted on the uav bottom, and the line of fall device includes: control system, takes the photograph
As head, walking wheel component；The walking wheel component is mounted on the uav bottom, for dropping to line in the unmanned plane
When support the unmanned plane to move；The camera is mounted on against the position of design landing route, and the camera is shot
The shooting auxiliary line being aligned with design landing route is provided on picture；The control system connects the unmanned plane, described takes the photograph
As head and the walking wheel component adjust the nothing for controlling above the unmanned plane during flying to the actual track for needing inspection
Man-machine position and direction are aligned the shooting auxiliary line of the camera with actual track, and it is perpendicular then to control the unmanned plane
Directly drop on actual track, the walking wheel component is driven to complete line data-logging.The application passes through described in control system control
Above unmanned plane during flying to the actual track for needing inspection, the position and direction for adjusting the unmanned plane make the bat of the camera
It takes the photograph auxiliary line to be aligned with actual track, then controls the unmanned plane and be vertically lowered on actual track, drive the traveling wheel
Component completes line data-logging, realizes unmanned plane and stops falling on the line then progress inspection, had both solved unmanned plane due to flight
Apart from too short the problem of leading to not long line inspection, and solves the problems, such as offline difficulty on line data-logging device, therefore solve
Traditional unmanned plane can not efficiently and accurately along inspection the technical issues of.
Detailed description of the invention
It in ord to more clearly illustrate embodiments of the present application, below will be to required use in embodiment or description of the prior art
Attached drawing be briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 provides a kind of schematic diagram of one embodiment of line of fall device dropproof based on unmanned plane for the application；
Fig. 2 provides fall-proofing device in a kind of one embodiment of line of fall device dropproof based on unmanned plane for the application
Schematic diagram；
Fig. 3 provides control system in a kind of one embodiment of line of fall device dropproof based on unmanned plane for the application and connects
Connect the schematic diagram of relationship；
Fig. 4 provides a kind of schematic diagram of one embodiment of line of fall method dropproof based on unmanned plane for the application；
Fig. 5 provides unmanned plane in a kind of one embodiment of line of fall device dropproof based on unmanned plane for the application and lands
The schematic diagram of process；
Fig. 6 provides camera in a kind of one embodiment of line of fall device dropproof based on unmanned plane for the application and shoots
The schematic diagram of picture；
Wherein, appended drawing reference are as follows:
Unmanned plane equipment compartment 11, camera 12, rotor arm 13, rotor motor 14, rotor 15, connector 2, uav bottom
31, traveling wheel 32, traction drive motor 33, walking wheeling support 34, fall-proofing device 35, undercarriage 36, battery compartment 37, gear
Arc pawl 351, servo motor and its controller 352 of engagement, line of fall pedestal 353, arc pawl connector 354, ground control work
Make station 4, shooting picture 121, auxiliary line 122, sensor module 112, signal transmitting and receiving unit 113, actual track 28, control system
System 111.
Specific embodiment
This application provides a kind of line of fall device and its line of fall method dropproof based on unmanned plane, it is traditional for solving
Unmanned plane can not efficiently and accurately along inspection the technical issues of.
To enable present invention purpose, feature, advantage more obvious and understandable, below in conjunction with the application
Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that disclosed below
Embodiment be only some embodiments of the present application, and not all embodiment.Based on the embodiment in the application, this field
Those of ordinary skill's all other embodiment obtained without making creative work belongs to the application protection
Range.
As shown in Figure 1, the application provides a kind of one embodiment of line of fall device dropproof based on unmanned plane, line of fall dress
It sets and is installed on unmanned plane, line of fall device is mounted on uav bottom 31, and line of fall device includes: control system 111, camera
12, walking wheel component；
Walking wheel component is mounted on uav bottom 31, for supporting unmanned plane movement when unmanned plane drops on line；
Camera 12 is mounted on against the position of design landing route, and is provided with and is set in camera shooting picture 121
The shooting auxiliary line 122 of meter landing route alignment；
Control system 111 connects unmanned plane, camera 12 and walking wheel component, for controlling unmanned plane during flying to needing inspection
The top of actual track 28, the position and direction for adjusting unmanned plane make the shooting auxiliary line 122 and actual track of camera 12
Then 28 alignment control unmanned plane and are vertically lowered on actual track 28, driving walking wheel component completes line data-logging.
Unmanned plane in the application can be any one unmanned plane, as shown in Figure 1, unmanned plane includes unmanned plane equipment compartment
11, rotor arm 13, rotor motor 14, rotor 15, bottom linker 2 and uav bottom 31, camera 12 are mounted on unmanned plane
The front end of equipment compartment 11.Control system 111 can be set inside unmanned plane equipment compartment 11.Uav bottom 31 can be one piece
Plate is provided with screw hole above, for installing various parts.
Design landing route in the application walks the route below wheel component at once, assumes that unmanned plane nominally
The position of power network line when dropping on power network line, for the position to 122 1 standards of camera 12 and auxiliary line.
When camera 12 lands route against the design, can be drawn on 12 camera lens of camera either in control system 111
An auxiliary line 122 is made in the imaging of camera 12, which is aligned with design landing route and is overlapped.So, at nobody
Machine flight all tops of actual track 28, and rotate unmanned plane and the auxiliary line 122 and the design route that lands is made to be aligned and be overlapped it
Afterwards, the position of unmanned plane is exactly standard, can be like clockwork on vertical drop to actual track 28.
Camera 12 is mounted on the position that can take design landing route, may be mounted on unmanned plane the either line of fall
On device.Auxiliary line 122 in camera shooting picture 121 can be drawing on 12 camera lens of camera or control
It makes, i.e., is made on imaging software in the imaging of camera 12 of system 111.
The application controls unmanned plane during flying to 28 top of actual track for needing inspection by control system 111, adjusts nobody
The position and direction of machine are aligned the shooting auxiliary line 122 of camera 12 with actual track 28, and it is vertical then to control unmanned plane
Drop on actual track 28, driving walking wheel component complete line data-logging, realize unmanned plane stop falling on the line then into
Row inspection had not only solved the problems, such as that unmanned plane led to not long line inspection since flying distance is too short, but also has solved line data-logging
The problem of offline difficulty on device, thus solve traditional unmanned plane can not efficiently and accurately along inspection the technical issues of.
The application combines the advantages of crusing robot on unmanned plane and line, flies outside line, realizes after the line of fall and walk on conducting wire, saves
Electricity, the patrol task of achievable middle and long distance.
Further, which further includes fall-proofing device 35；
Fall-proofing device 35 is specially the gripper that can include route；
Control system 111 connects fall-proofing device 35, for controlling fall-proofing device after unmanned plane drops on route
35 include the route.After fall-proofing device 35 includes the route, if unmanned plane is turned over by strong wind, underground will not be fallen to,
But it still can hang on the line, continue to complete patrol task or take off again.
Further, referring to Fig. 2, fall-proofing device 35 specifically includes: arc pawl 351, the servo motor of gear engagement
And its controller 352, line of fall pedestal 353 and arc pawl connector 2；
Line of fall pedestal 353 is mounted on uav bottom 31；
The arc pawl 351 of gear engagement is mounted on line of fall pedestal 353；
Arc pawl connector 2 connects the arc pawl 351 of the gear engagement on line of fall pedestal 353；
The gear of servo motor and its arc pawl 351 of 352 connection gear of controller engagement, for controlling arc pawl 351
Opening and closing.
It can be understood that the arc pawl 351 of gear engagement is made of two parts, each part is that gear adds bending
Part, their two progress gear engagements form claw-like device.It is nibbled on fall-proofing device 35 as shown in Figure 2 there are two gear
The arc pawl 351 of conjunction is connected by arc pawl connector 2.
It further, further include undercarriage 36；
The shape of undercarriage 36 is several fonts, and the groove of undercarriage 36 is identical as design landing place on line.Several fonts
Shape can enable unmanned plane more accurately fall on route down.The groove of undercarriage 36, that is, a few fonts top.It rises and falls
Frame 36 can realize the drop of flight, and line of fall device can be guided smoothly to fall into conducting wire under the structure of its several font.
Further, two side bottoms of undercarriage 36 are equipped with the battery compartment 37 that can load identical or different weight battery.
Can reduce the center of gravity of whole device in the two side bottoms installation battery of undercarriage 36 so that unmanned plane stop falling on the line when
It waits more stable.And the battery weight loaded inside the battery compartment 37 on both sides can by load battery number be adjusted,
The weight on both sides can be adjusted according to the inclination conditions of unmanned plane, so that unmanned plane keeps balance.Pass through symmetrical adjustment two
It holds center of gravity at a distance from conducting wire, device is stablized and is fallen on conducting wire.
Further, which further includes sensor module 112, sensor module 112 include radar, GPS sensor,
Range sensor, velocity sensor, stability sensor, Temperature Humidity Sensor.Each portion of unmanned plane is arranged in sensor module
Position, but be all connected in control system 111.
Referring to Fig. 3, control system 111 is connected to sensor module 112, signal transmitting and receiving unit 113, video camera 12, rotation
Wing motor 14, traction drive motor 33, servo motor and its controller 352, battery compartment 37.Control system 111 can control nothing
Man-machine position and steering, the rotation speed of rotor motor 14, the speed of travel of traveling wheel 3232, the opening of fall-proofing device 35
With closed state, work station 4 is controlled with ground by signal transmitting and receiving unit 113 and is communicated.Sensor module 112 can be examined
The signal measured feeds back to control system 111.
Further, walking wheel component includes two, is separately positioned on the front and back of uav bottom 31.Two walking wheel portions
Part can keep unmanned plane anterior-posterior balance.
Further, walking wheel component includes: 32 support of traveling wheel 32, traction drive motor 33 and traveling wheel；Walking
32 supports are taken turns to be mounted on unmanned plane；Traveling wheel 32 is mounted on 32 support of traveling wheel；The connection walking of traction drive motor 33
Wheel 32, for providing the power of traveling wheel 32.Traction drive motor 33 is controlled by control system 111.
Be above the application is provided a kind of line of fall device dropproof based on unmanned plane one embodiment carry out it is detailed
Description, the one embodiment for providing the application a kind of line of fall method dropproof based on unmanned plane is carried out below detailed
Description.
Fig. 4 and Fig. 5 are please referred to, the application provides a kind of one embodiment of line of fall method dropproof based on unmanned plane,
It is executed by the line of fall device dropproof based on unmanned plane of such as above-described embodiment, comprising:
101, above control unmanned plane during flying to the actual track for needing inspection；
102, the position and direction for adjusting unmanned plane are aligned the shooting auxiliary line of camera with actual track；
The shooting auxiliary line 122 of camera is used during the line of fall, alignment conducting wire is more quick and accurate.Please refer to figure
6, the auxiliary line 122 in shooting picture 121 should be overlapped with actual track 28, in this way, the position of unmanned plane is just accurately in reality
28 top of route, and direction is also accurate.
103, control unmanned plane is vertically lowered on actual track；
104, driving walking wheel component completes line data-logging.
Further, before step 103 further include:
Control fall-proofing device becomes open configuration；
After step 103 further include:
Control fall-proofing device becomes closed state, so that fall-proofing device includes actual track.
The case where encircling conducting wire using fall-proofing device after the line of fall, avoiding accidental environment that line of fall device is caused to fall, the line of fall
It is more safe and reliable afterwards.
As shown in figure 5, unmanned plane during flying is to 28 top of actual track when Fig. 5 a, then, control fall-proofing device 35 is beaten
It opens, is at this time Fig. 5 b, then unmanned plane is dropped on actual track 28 and (has passed through camera 12 and auxiliary line 122 before this
Alignment), become the state such as Fig. 5 c.Fall-proofing device 35 is finally closed (Fig. 5 d), inclusion actual track 28 completes unmanned plane
Online operation.The rotor that can stop unmanned plane later, then carries out line data-logging, saves electricity, achievable middle length away from
From patrol task.
Be above the application is provided a kind of line of fall method dropproof based on unmanned plane one embodiment carry out it is detailed
Description, the application will be provided below a kind of line of fall method dropproof based on unmanned plane another embodiment carry out it is detailed
Description.
The application provides a kind of another embodiment of line of fall method dropproof based on unmanned plane, including
Step 1: controlling work station 4 in the auxiliary of sensor module 112 and ground based on the dropproof line of fall device of unmanned plane
Control under, taken off by ground and flown to the top for needing to detect conducting wire 28, such as Fig. 5 a.
Step 2: control system 111 controls unmanned plane movement or turns to, so that the auxiliary line 122 of camera is directed at lower section
28 center of conducting wire.
Step 3: fall-proofing device 35 becomes open configuration from closure, such as Fig. 5 b, prepares to fall behind alignment 28 center of conducting wire
Line.
Step 4: slowly until traveling wheel 32 is entirely fallen on conducting wire 28, stopping drives rotor to line of fall device for flight down
Motor, such as Fig. 5 c.
Step 5: fall-proofing device 35 becomes closed state from opening, conducting wire 28 is included, line of fall process terminates, such as Fig. 5 d
It is shown.
Step 6: traveling wheel 32 runs to designated position according to the instruction of control system 111, executes specific inspection and appoint
Business.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of line of fall device dropproof based on unmanned plane, the line of fall device are installed on the unmanned plane, feature exists
In the line of fall device is mounted on the uav bottom, and the line of fall device includes: control system, camera, walking wheel portion
Part；
The walking wheel component is mounted on the uav bottom, for supporting the nothing when the unmanned plane drops on line
Man-machine movement；
The camera is mounted on against the position of design landing route, and is provided with and is designed in the camera shooting picture
The shooting auxiliary line that the route that lands is aligned；
The control system connects the unmanned plane, the camera and the walking wheel component, for controlling the unmanned plane
It flies to the actual track for needing inspection, the position and direction for adjusting the unmanned plane assist the shooting of the camera
Line is aligned with actual track, is then controlled the unmanned plane and is vertically lowered on actual track, drives the walking wheel component complete
At line data-logging.
2. a kind of line of fall device dropproof based on unmanned plane according to claim 1, which is characterized in that further include anti-fall
Dropping control device；
The fall-proofing device is specially the gripper that can include route；
The control system connects the fall-proofing device, for the control dropproof dress after unmanned plane drops on route
It sets and includes the route.
3. a kind of line of fall device dropproof based on unmanned plane according to claim 2, which is characterized in that described dropproof
Device specifically includes: arc pawl, servo motor and its controller, line of fall pedestal and the arc pawl connector that gear engages；
The line of fall pedestal is mounted on the uav bottom；
The arc pawl of the gear engagement is mounted on the line of fall pedestal；
The arc pawl connector connects the arc pawl of the engagement of the gear on the line of fall pedestal；
The servo motor and its controller connect the gear of the arc pawl of the gear engagement, for controlling the arc pawl
Open and close are closed.
4. a kind of line of fall device dropproof based on unmanned plane according to claim 1, which is characterized in that further include rising and falling
Frame；
The shape of the undercarriage is several fonts, and the groove of the undercarriage is identical as design landing place on line.
5. a kind of line of fall device dropproof based on unmanned plane according to claim 4, which is characterized in that the undercarriage
Two side bottoms the battery compartment that can load identical or different weight battery is installed.
6. a kind of line of fall device dropproof based on unmanned plane according to claim 1, which is characterized in that further include sensing
Device module, the sensor module includes radar, GPS sensor, range sensor, velocity sensor, stability sensor, warm and humid
Spend sensor.
7. a kind of line of fall device dropproof based on unmanned plane according to claim 1, which is characterized in that the traveling wheel
Component includes two, is separately positioned on the front and back of the uav bottom.
8. a kind of line of fall device dropproof based on unmanned plane according to claim 1, which is characterized in that the traveling wheel
Component includes: traveling wheel, traction drive motor and walking wheeling support；
The walking wheeling support is mounted on the unmanned plane；
The traveling wheel is mounted on the walking wheeling support；
The traction drive motor connects the traveling wheel, is used to provide the described the power of traveling wheel.
9. a kind of line of fall method dropproof based on unmanned plane is based on unmanned plane by as claimed in any one of claims 1 to 8
Dropproof line of fall device is executed characterized by comprising
Above control unmanned plane during flying to the actual track for needing inspection；
The position and direction for adjusting the unmanned plane are aligned the shooting auxiliary line of the camera with actual track；
The unmanned plane is controlled to be vertically lowered on actual track；
The walking wheel component is driven to complete line data-logging.
10. a kind of line of fall method dropproof based on unmanned plane according to claim 9, which is characterized in that the step
It controls before the unmanned plane is vertically lowered on actual track further include:
Control fall-proofing device becomes open configuration；
After the step control unmanned plane is vertically lowered on actual track further include:
Control fall-proofing device becomes closed state, so that fall-proofing device includes actual track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315105.0A CN109398702A (en) | 2018-11-06 | 2018-11-06 | A kind of line of fall device and its line of fall method dropproof based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315105.0A CN109398702A (en) | 2018-11-06 | 2018-11-06 | A kind of line of fall device and its line of fall method dropproof based on unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN109398702A true CN109398702A (en) | 2019-03-01 |
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| CN201811315105.0A Pending CN109398702A (en) | 2018-11-06 | 2018-11-06 | A kind of line of fall device and its line of fall method dropproof based on unmanned plane |
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| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
| CN109941436A (en) * | 2019-04-09 | 2019-06-28 | 国网黑龙江省电力有限公司电力科学研究院 | It is a kind of can livewire work maintenance feeder line fault unmanned plane |
| CN110460002A (en) * | 2019-09-19 | 2019-11-15 | 燕山大学 | A kind of flight formula cable deicing machine people |
| CN110518490A (en) * | 2019-09-02 | 2019-11-29 | 国网山东省电力公司潍坊供电公司 | A kind of hot melten type route foreign matter ablation device and picking methods based on unmanned plane |
| CN112710243A (en) * | 2020-12-16 | 2021-04-27 | 贵州电网有限责任公司 | Weather-proof steel tower corrosion-resistant layer monitoring unmanned aerial vehicle locking device |
| CN113697100A (en) * | 2021-07-28 | 2021-11-26 | 广西电网有限责任公司电力科学研究院 | Unmanned aerial vehicle for immediate disaster relief of power transmission corridor |
| CN114062722A (en) * | 2021-11-15 | 2022-02-18 | 国家电网有限公司 | Unmanned aerial vehicle electroscope |
| CN114397904A (en) * | 2022-01-14 | 2022-04-26 | 广东电网能源发展有限公司 | Unmanned aerial vehicle line-dropping system and method for overhead transmission line and storage medium |
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| CN117613799A (en) * | 2024-01-24 | 2024-02-27 | 国网山东省电力公司单县供电公司 | Cable snow cleaning device |
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