CN116483102A - Electric power inspection control system imitating bat route and horseshoe-shaped movable machine nest - Google Patents
Electric power inspection control system imitating bat route and horseshoe-shaped movable machine nest Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a bat-line-imitated power inspection control system and a horseshoe-shaped movable mobile nest, wherein the bat-line-imitated power inspection control system comprises a control center, a bat-line-imitated planning system, an unmanned aerial vehicle cabin entering and exiting system, an inspection information acquisition system and an electric quantity real-time monitoring system; the bat-like route planning system is used for planning the cruising operation of the unmanned aerial vehicle; the unmanned aerial vehicle cabin entering and exiting system receives cabin entering and exiting commands and controls the lifting platform to work; the inspection information acquisition system acquires inspection information and uploads the inspection information to the control center; the electric quantity real-time monitoring system monitors the electric quantity of the unmanned aerial vehicle and sends out corresponding instructions; the horseshoe-shaped movable machine nest is simulated by the stability of the horseshoe, so that the machine nest is not easy to shake on an uneven road surface. By implementing the invention, the accuracy, efficiency and safety of the power inspection can be improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle bat-imitated route planning, in particular to a bat-imitated route power inspection control system.
Background
Along with the development status of the power industry and the analysis of an industrial chain in recent years in China, the construction technology of high-voltage, extra-high-voltage and other power transmission lines is more mature, and the mileage of the power transmission lines is longer. The domestic power system inspection requirements are continuously improved, and the intelligent inspection market is in development opportunity. The construction of high-voltage lines in remote mountain areas with severe environments is often influenced by wind, sun and material aging, and the occurrence of harmful conditions such as strand breakage, abrasion and the like, so that serious accidents are caused, and the hidden danger of large-area power failure is caused.
The traditional electric power inspection mainly relies on manual inspection, and the inspection mainly comprises the steps of carrying out simple qualitative judgment on related towers and the like by comprehensively using sense and partial matched detection instruments, and has the problems of high labor intensity, low inspection efficiency, incomplete inspection, difficult digitization of inspection results and the like.
With the deep application of unmanned aerial vehicle technology, data processing technology and inspection field, unmanned aerial vehicle need consider the duration problem when the operation of patrolling and examining to the data of shooting of shaft tower need carry out real-time processing in the inspection process, especially unmanned aerial vehicle need consider on the route planning problem of cruising whether have the obstacle to influence this unmanned aerial vehicle cruising.
Disclosure of Invention
The invention aims to provide an electric power inspection control system imitating a bat route and a horseshoe-shaped movable mobile nest. So as to improve the accuracy, efficiency and safety of the power inspection process.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in one aspect of the invention, a bat-line-imitated power inspection control system is provided, which at least comprises a control center, a bat-line-imitated planning system, an inspection information acquisition system, an unmanned aerial vehicle cabin entering and exiting system and a power real-time monitoring system; wherein:
the control center is used for issuing a patrol task, judging according to the information reported by the patrol information acquisition system, sending out a fault alarm signal at the display terminal if a fault exists, and recording the position in the generated live-action three-dimensional graph;
the bat-like route planning system is used for planning the cruising operation of the unmanned aerial vehicle, sending a cabin-out signal to the cabin-in and cabin-out system of the unmanned aerial vehicle after generating the cruising track of the unmanned aerial vehicle, and feeding back a route to the route re-simulating unit;
the inspection information acquisition system is used for inspecting information and uploading the information to the control center;
the electric quantity real-time monitoring system is used for monitoring electric quantity and sending out corresponding instructions, sending out alarm signals when the electric quantity is insufficient, triggering path re-simulation and returning operation;
the unmanned aerial vehicle cabin entering and exiting system is used for receiving cabin entering and exiting commands and controlling the lifting platform to work.
Preferably, the control center is used for issuing a patrol task, the cruising three-dimensional live-action diagram is led into the bat-imitating route generating unit, the unmanned aerial vehicle cabin entering and exiting system is used for preparing to leave a cabin after receiving a command, the patrol information acquisition system is used for uploading acquired data to the control center, and the electric quantity real-time monitoring system is used for feeding back monitoring data to the control center.
Preferably, the bated-aerial-cord-imitating planning system comprises a bated-aerial-cord-imitating generating unit, a bated-throat-imitating sound wave transmitting unit, a bated-ear-imitating sound wave receiving unit, a bated central-nerve-imitating signal processing unit and a bated-track-seeking task dispatching unit, wherein:
the bat-like course generating unit comprises a live-action three-dimensional importing unit, a longitude and latitude planning module and a bat-like course exporting module, wherein the live-action three-dimensional importing module is used for importing tower pole and wire data required to be inspected, the longitude and latitude planning module is used for generating a unmanned aerial vehicle inspection track according to the data imported by the bat-like course generating unit, and the bat-like course exporting module is used for uploading the inspection track to a control center;
the bat-throat-imitating sound wave transmitting unit and the bat-ear-imitating sound wave receiving unit are respectively used for transmitting and receiving ultrasonic waves;
the bat central nerve imitation signal processing unit is used for carrying out frequency identification and signal distance judgment on the received wavelength;
the bat-imitating tracking task dispatch unit is used for receiving task instructions sent by the control center, and sending signals to the path re-simulating unit to change the route when new tasks or emergency needs to return.
Preferably, the unmanned aerial vehicle cabin entering and exiting system at least comprises a cabin door opening and closing control unit and a return precise cabin returning unit; wherein:
the cabin door opening and closing control unit is used for receiving a command issued by the control center so as to control the cabin door and the lifting platform to make corresponding actions;
the return precise cabin returning unit is used for mobilizing the unmanned aerial vehicle position sensor and the nest position sensor data interaction to realize precise cabin returning according to the instruction sent by the route re-simulating unit.
Preferably, the inspection information acquisition system at least comprises a camera acquisition module, a sensor data acquisition module and an information processing module, wherein:
the camera acquisition module is used for acquiring images and video information through a cradle head camera;
the sensor data acquisition module is used for acquiring air pressure data and temperature and humidity data through the air pressure monitoring unit and the temperature and humidity measuring unit;
the information processing module is used for processing the data such as pictures and videos from the camera acquisition module and the sensor data acquisition module, storing the processed information in a classified mode and transmitting the processed information to the control center through the digital graph.
Preferably, the electric quantity real-time monitoring system comprises an unmanned aerial vehicle cruising and charging control module, a path re-simulating unit and an unmanned aerial vehicle cabin entering battery replacing module; wherein:
the unmanned aerial vehicle cruising and charging control module is used for sending an alarm signal when the unmanned aerial vehicle is monitored to be insufficient in power; controlling the photovoltaic cell array to convert the electric quantity to the energy storage element; the system comprises a photovoltaic cell array, an unmanned aerial vehicle battery pack, a converted electric quantity monitoring unit and a maximum power tracking unit; the maximum power tracking unit is used for identifying electric quantity conversion, the input electric quantity is larger than the output electric quantity, the charging is continued, and the output electric quantity is larger than the input electric quantity and returns to the cabin for battery replacement;
and the path re-simulating unit is used for performing path re-simulating after receiving the electric quantity shortage alarm signal of the unmanned aerial vehicle cabin entering battery replacement module so as to realize the return operation.
As another aspect of the present invention, there is also provided a horseshoe-shaped movable nest for cooperation with the aforementioned power inspection control system, the horseshoe-shaped movable nest mainly comprising: the device comprises a horseshoe-shaped moving wheel, a machine nest, a connecting rod mechanism, a cabin door, a balance sensor, a screw rod mechanism, a position sensor, a lifting table, a hydraulic lifting support column and a lifting sensor.
Preferably, the horseshoe-shaped movable wheel is used for moving the machine nest, and when an extreme condition is met, the balance sensor can be triggered to send an instruction to the hydraulic lifting support column, so that the height of the position is automatically adjusted.
Preferably, the linkage mechanism is used for opening and closing the machine nest and the cabin door; the push rod sensor is arranged in the link mechanism and used for receiving a patrol command issued by the control center to push the link mechanism to act, and when the unmanned aerial vehicle starts to leave the cabin, the push rod mechanism starts to act.
Preferably, the screw rod mechanism is used for changing the position of the lifting platform through a motor driving screw rod, the supporting plate is arranged in the screw rod rotating process to enable the lifting platform to move up and down along with the rotation of the screw rod, and meanwhile, the position sensor is interacted with position sensor data on the unmanned aerial vehicle when the unmanned aerial vehicle is required to return to the navigation cabin due to the fact that the unmanned aerial vehicle cruises, the electric quantity is insufficient and other reasons, so that the unmanned aerial vehicle can be accurately positioned on the lifting platform.
Preferably, the hydraulic lifting support column adopts a hydraulic rod cylinder body, and the lifting sensor is used for controlling the motor to drive the screw rod to move up and down to control the height of the lifting table, so that the unmanned aerial vehicle can smoothly go out of the cabin to cruise and return to the cabin.
The implementation of the invention has the following beneficial effects:
the invention provides an electric power inspection control system imitating a bat route and a horseshoe-shaped movable mobile nest. In the embodiment of the invention, after the unmanned aerial vehicle leaves the cabin, the bated aerial vehicle-simulated route planning system plans the cruising route of the unmanned aerial vehicle in real time after the bated central nervous unit-simulated central nervous unit processes the sound wave returned by the ultrasonic wave sent by the inspection, so that the obstacle avoidance efficiency during inspection is improved and the safety of the unmanned aerial vehicle is ensured.
According to the battery real-time monitoring system, when the power of the unmanned aerial vehicle is monitored and identified in real time, the photovoltaic cell array is started to charge the unmanned aerial vehicle battery pack, the maximum power tracking unit identifies the power conversion, and a command is sent to the path re-simulation unit to return to the navigation when the power is larger than the input power, so that the power control and the inspection operation efficiency during inspection are improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a general block diagram of one embodiment of a batwing line-emulated power inspection control system provided by the present invention;
fig. 2 is a schematic view of an application environment of a batwing line-imitated power inspection control system and a horseshoe-shaped movable nest provided by the invention;
FIG. 3 is a schematic diagram of a simulated bat route planning system in accordance with the present invention;
fig. 4 is a schematic structural view of an unmanned aerial vehicle cabin entering and exiting system according to the present invention;
FIG. 5 is a schematic structural diagram of a patrol information-collection system according to the present invention;
FIG. 6 is a schematic diagram of a real-time monitoring system for electric quantity according to the present invention;
fig. 7 is a schematic structural view of an embodiment of a horseshoe-shaped mobile nest for an unmanned aerial vehicle provided by the present invention;
fig. 8 is a schematic view of the section A-A of fig. 7.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention provides a schematic diagram of one embodiment of a batwing line-like power inspection control system as in fig. 1. Referring to fig. 2 to 6 together, in an embodiment of the present invention, the power inspection control system simulating the bat route includes a control center, a bat route planning system simulating the bat route, an unmanned aerial vehicle cabin entering and exiting system, an inspection information acquisition system and an electric quantity real-time monitoring system.
The control center is used for issuing a patrol task, judging according to the information reported by the patrol information acquisition system, sending out a fault alarm signal at the display terminal if a fault exists, and recording the position in the generated live-action three-dimensional graph;
the bat-like route planning system is used for planning the cruising operation of the unmanned aerial vehicle, sending a cabin-out signal to the cabin-in and cabin-out system of the unmanned aerial vehicle after generating the cruising track of the unmanned aerial vehicle, and feeding back a route to the route re-simulating unit;
the inspection information acquisition system is used for inspecting information and uploading the information to the control center;
the electric quantity real-time monitoring system is used for monitoring electric quantity and sending out corresponding instructions, sending out alarm signals when the electric quantity is insufficient, triggering path re-simulation and returning operation;
the unmanned aerial vehicle cabin entering and exiting system is used for receiving cabin entering and exiting commands and controlling the lifting platform to work.
Specifically, after the imitative bat route planning system generates unmanned aerial vehicle track of cruising, cabin door switching control unit receives out the cabin signal in the unmanned aerial vehicle business turn over cabin system, imitative bat route planning system is used for feeding back the route through imitative bat central nervous signal processing unit and gives the route and imitate the unit again, it is used for uploading control center through the digital map according to the data of gathering to patrol and examine information acquisition system, electric quantity real-time monitoring system is used for sending alarm signal when monitoring the electric quantity is not enough, cabin door switching control unit is used for receiving the business turn over signal in the unmanned aerial vehicle business turn over cabin system, unmanned aerial vehicle returns to cabin battery replacement module in the electric quantity real-time monitoring system and is used for carrying out battery dismantlement.
The bat route planning simulating system at least comprises a bat route generating simulating unit, a bat throat simulating sound wave transmitting unit, a bat ear simulating sound wave receiving unit, a bat central nerve signal processing simulating unit and a bat tracking task dispatching simulating unit.
The bat-like course generating unit comprises a live-action three-dimensional importing module, a longitude and latitude planning module and a bat-like course exporting module. Specifically, a tower pole and a wire which need to be inspected are led in through a live-action three-dimensional leading-in module, an unmanned aerial vehicle inspection track is generated through a longitude and latitude planning module, and the inspection track is uploaded to a control center through a bat-like course leading-out module;
the bat throat imitating sound wave transmitting unit is used for transmitting signals with different frequencies through a voltage-controlled oscillator of the ultrasonic generator;
the batear-imitating sound wave receiving unit is used for collecting returned frequency signals to the ultrasonic receiver through the receiving probe;
the bats-imitating central nerve signal processing unit is used for identifying wavelength frequency and judging signal distance through the ultrasonic processor, judging whether an obstacle exists or not, and changing the route through data interaction of the route reconstruction unit and the gesture and heading sensor if the obstacle exists in the route;
the bat-imitating tracking task dispatch unit is used for receiving task signals transmitted by the control center and sending the task signals to the path reconstruction unit, and specifically comprises the following components: the task signal manager, the task issuer and the task number recorder are used for realizing the functions.
The inspection information acquisition system comprises a camera acquisition module, an information processing module and a sensor data acquisition module.
The camera acquisition module is used for identifying the failed object capturing shooting through a brand new image sensor of the pan-tilt camera, adjusting the gesture heading of the camera and acquiring and processing the picture information at multiple angles. Switching a video mode to perform video preprocessing on the tower body, the lead, the topography and the landform, guiding out a live-action three-dimensional and sending out an alarm signal to a fault place;
the sensor data acquisition module is mainly used for acquiring air pressure data and temperature and humidity data through the air pressure monitoring unit and the temperature and humidity measuring unit so as to monitor the influence on the machine body, and uploading the acquired data to the information processing module for data analysis;
the information processing module is used for processing the data such as pictures and videos from the camera acquisition module and the sensor data acquisition module, storing the processed information in a classified mode and transmitting the processed data to the control center through the digital graph.
The electric quantity real-time monitoring system at least comprises an unmanned aerial vehicle cruising and charging control module, an unmanned aerial vehicle cabin returning battery replacement module and a path reconstruction unit.
The unmanned aerial vehicle cruising and charging control module further comprises a photovoltaic cell array, an unmanned aerial vehicle battery pack, a converted electric quantity monitoring unit, a maximum power tracking unit and the like. The unmanned aerial vehicle cruises and charges the control module and is used for controlling the photovoltaic cell array to convert the electric quantity to the energy storage element when monitoring the unmanned aerial vehicle electricity alarming signal, the maximum power tracking unit is used for judging the electric quantity conversion, the input electric quantity is greater than the output electric quantity and charges continuously, and the output electric quantity is greater than the input electric quantity and returns to the navigation to replace the battery.
And the unmanned aerial vehicle cabin returning battery replacement module is used for sending a cabin returning signal to the path reconstruction unit when the received electric quantity is insufficient.
And the path re-simulating unit is used for performing path re-simulating after receiving the electric quantity shortage alarm signal of the unmanned aerial vehicle cabin entering battery replacement module so as to realize the return operation.
The unmanned aerial vehicle cabin entering and exiting system at least comprises a cabin door opening and closing control unit and a return precise cabin returning unit.
The cabin door opening and closing control unit is mainly used for controlling opening and closing of the cabin door through inspection information issued by the control center and well controlling the height of the lifting platform by the lifting controller so as to enable the unmanned aerial vehicle to leave the cabin and enter the cabin. Specifically, the cabin door opening and closing control unit further comprises a cabin entering and exiting signal receiver, a cabin door opening and closing sensor, a lifting platform controller, an unmanned aerial vehicle lifting platform, a nest position sensor and the like.
The accurate cabin unit that returns is used for preparing unmanned aerial vehicle's content such as descending and battery replacement, specifically is used for receiving after the signal such as task completion, electric quantity are not enough at control center, and under the cooperation of route reconfiguration unit the nest position sensor and unmanned aerial vehicle position sensor data interaction to the position that unmanned aerial vehicle descends is accurately fixed a position through unmanned aerial vehicle lift platform position sensor. The return precise cabin returning unit further comprises an unmanned aerial vehicle position sensor and an unmanned aerial vehicle speed regulator.
Further, a schematic structural diagram of a batwing-like en-route planning system in accordance with the present invention is shown in fig. 3; fig. 4 to 6 respectively show structural schematic diagrams of an unmanned aerial vehicle cabin entering and exiting system, a patrol information acquisition system and an electric quantity real-time monitoring system related to the invention; may be referred to and incorporated by reference.
It will be appreciated that in the present invention, the simulated bat route planning is to encounter an obstacle by the ultrasonic waves emitted from the throat during foraging of the simulated bat, which are received by the ear and then passed through the central nervous process of the bat to identify whether there is an obstacle ahead. The bats-imitating route planning system of the unmanned aerial vehicle is characterized in that ultrasonic wave signals with different frequencies are sent out through an ultrasonic transmitter, the signals are transmitted to a bats-imitating central nerve processing unit through a sound wave receiver, and if an obstacle is met, the signals are transmitted to a path re-simulating unit. When the unmanned aerial vehicle is insufficient in electric quantity, the electric quantity real-time monitoring unit can send an alarm signal, and the photovoltaic cell array starts to work as the unmanned aerial vehicle to provide endurance; when the output electric quantity is larger than the input electric quantity, an alarm signal is sent out, and the path re-simulating unit returns to the cabin to replace the battery, so that the operation efficiency is improved.
As shown in fig. 7, the invention also discloses a horseshoe-shaped movable machine nest for realizing the electric power inspection control system imitating the bat route, and the horseshoe-shaped movable machine nest is combined with the schematic cross-section of fig. 8. In an embodiment of the present invention, a horseshoe-type movable nest mainly includes: the device comprises a horseshoe-shaped moving wheel 1, a machine nest 2, a connecting rod mechanism 3, a cabin door 4, a balance sensor 5, a screw rod mechanism 6, a position sensor 7, a lifting table 8, a hydraulic lifting support column 9 and a lifting sensor 10.
Specifically, the horseshoe-shaped movable wheel 1 is used for triggering the balance sensor 5 to send out instructions to the hydraulic lifting support column 9 when encountering extreme conditions during movement of the machine nest, the height of the position of the hydraulic lifting support column 9 is automatically adjusted, and the hydraulic lifting support column 9 has the advantages of being strong in bearing capacity, long in support time and not easy to deform, and is suitable for the condition of uneven pavement.
Specifically, a link mechanism 3, which is used for connecting the machine nest 2 with the cabin door 4 and is used for opening and closing the cabin door; the push rod sensor is arranged in the unmanned aerial vehicle and used for receiving a patrol command issued by the control center to push the link mechanism to act, and when the unmanned aerial vehicle starts to leave the cabin, the push rod mechanism starts to act.
Specifically, the screw rod mechanism 6 is used for changing the position of the lifting platform 8 through the motor driving screw rod, the supporting plate is arranged in the screw rod rotating process to enable the lifting platform 8 to move up and down along with the rotation of the screw rod, and meanwhile, the position sensor 7 is interacted with position sensor data on the unmanned aerial vehicle when the unmanned aerial vehicle is required to return to the cabin due to the fact that the unmanned aerial vehicle cruises, the electric quantity is insufficient and other reasons, so that the unmanned aerial vehicle can be accurately positioned on the lifting platform 8.
Specifically, the hydraulic lifting support column 9 adopts a hydraulic rod cylinder body, so that friction of a lifting rod to the cylinder body can be reduced, a certain buffer function can be ensured, the action is rapid, the auxiliary time is short, the support is reliable, the lifting sensor 10 is used for controlling the motor to drive the screw rod to move up and down, and the hydraulic lifting support column 9 is driven to push the lifting platform 8 to move up and down, so that the unmanned aerial vehicle can smoothly go out of the cabin to cruise and return to the cabin.
The embodiment of the invention has the following beneficial effects:
the invention provides an electric power inspection control system imitating a bat route and a horseshoe-shaped movable mobile nest. In the embodiment of the invention, after the unmanned aerial vehicle leaves the cabin, the bated aerial vehicle-simulated route planning system plans the cruising route of the unmanned aerial vehicle in real time after the bated central nervous unit-simulated central nervous unit processes the sound wave returned by the ultrasonic wave sent by the inspection, so that the obstacle avoidance efficiency during inspection is improved and the safety of the unmanned aerial vehicle is ensured.
According to the battery real-time monitoring system, when the power of the unmanned aerial vehicle is monitored and identified in real time, the photovoltaic cell array is started to charge the unmanned aerial vehicle battery pack, the maximum power tracking unit identifies the power conversion, and a command is sent to the path re-simulation unit to return to the navigation when the power is larger than the input power, so that the power control and the inspection operation efficiency during inspection are improved.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (11)
1. The electric power inspection control system simulating the bat airlines is characterized by at least comprising a control center, a bat airlines simulating planning system, an inspection information acquisition system, an unmanned aerial vehicle cabin entering and exiting system and an electric quantity real-time monitoring system; wherein:
the control center is used for issuing a patrol task, judging according to the information reported by the patrol information acquisition system, sending out a fault alarm signal at the display terminal if a fault exists, and recording the position in the generated live-action three-dimensional graph;
the bat-like route planning system is used for planning the cruising operation of the unmanned aerial vehicle, sending a cabin-out signal to the cabin-in and cabin-out system of the unmanned aerial vehicle after generating the cruising track of the unmanned aerial vehicle, and feeding back a route to the route re-simulating unit;
the inspection information acquisition system is used for inspecting information and uploading the information to the control center;
the electric quantity real-time monitoring system is used for monitoring electric quantity and sending out corresponding instructions, sending out alarm signals when the electric quantity is insufficient, triggering path re-simulation and returning operation;
the unmanned aerial vehicle cabin entering and exiting system is used for receiving cabin entering and exiting commands and controlling the lifting platform to work.
2. The batwing-line-imitated power inspection control system according to claim 1, wherein the control center is used for issuing inspection tasks and guiding a cruising three-dimensional real-scene graph into the batwing-line-imitated generating unit, the unmanned aerial vehicle cabin-in and cabin-out system is used for preparing cabin-out after receiving commands, the inspection information acquisition system is used for uploading the control center according to acquired data, and the electric quantity real-time monitoring system is used for feeding back monitoring data to the control center.
3. The bated course-imitating power inspection control system of claim 2, wherein the bated course-imitating planning system comprises a bated course-imitating generating unit, a bated throat-imitating sound wave transmitting unit, a bated ear-imitating sound wave receiving unit, a bated central nerve signal processing unit and a bated tracking task dispatching unit, wherein:
the bat-like course generating unit comprises a live-action three-dimensional importing unit, a longitude and latitude planning module and a bat-like course exporting module, wherein the live-action three-dimensional importing module is used for importing tower pole and wire data required to be inspected, the longitude and latitude planning module is used for generating a unmanned aerial vehicle inspection track according to the data imported by the bat-like course generating unit, and the bat-like course exporting module is used for uploading the inspection track to a control center;
the bat-throat-imitating sound wave transmitting unit and the bat-ear-imitating sound wave receiving unit are respectively used for transmitting and receiving ultrasonic waves;
the bat-imitating central nervous signal processing unit is used for carrying out frequency identification and signal distance judgment on the received wavelength, and if an obstacle exists on the route, the route is changed by carrying out data interaction with the gesture and the course sensor through the route reconstructing unit;
the bat-imitating tracking task dispatch unit is used for receiving task instructions sent by the control center, and sending signals to the path re-simulating unit to change the route when new tasks or emergency needs to return.
4. The batwing course-imitated power inspection control system according to claim 3, wherein the unmanned aerial vehicle cabin entering and exiting system at least comprises a cabin door opening and closing control unit and a return precise cabin returning unit; wherein:
the cabin door opening and closing control unit is used for receiving a command issued by the control center so as to control the cabin door and the lifting platform to make corresponding actions;
the return precise cabin returning unit is used for mobilizing the unmanned aerial vehicle position sensor and the nest position sensor data interaction to realize precise cabin returning according to the instruction sent by the route re-simulating unit.
5. The batwing line-imitated power inspection control system of claim 4, wherein the inspection information acquisition system comprises at least a camera acquisition module, a sensor data acquisition module and an information processing module, wherein:
the camera acquisition module is used for acquiring images and video information through a cradle head camera;
the sensor data acquisition module is used for acquiring air pressure data and temperature and humidity data through the air pressure monitoring unit and the temperature and humidity measuring unit;
the information processing module is used for processing the data such as pictures and videos from the camera acquisition module and the sensor data acquisition module, storing the processed information in a classified mode and transmitting the processed information to the control center through the digital graph.
6. The batwing line-imitated power inspection control system according to claim 5, wherein the power real-time monitoring system comprises an unmanned aerial vehicle cruising and charging control module, a path re-simulating unit and an unmanned aerial vehicle cabin-returning battery replacing module; wherein:
the unmanned aerial vehicle cruising and charging control module is used for sending an alarm signal when the unmanned aerial vehicle is monitored to be insufficient in power; controlling the photovoltaic cell array to convert the electric quantity to the energy storage element; the system comprises a photovoltaic cell array, an unmanned aerial vehicle battery pack, a converted electric quantity monitoring unit and a maximum power tracking unit; the maximum power tracking unit is used for identifying electric quantity conversion, the input electric quantity is larger than the output electric quantity, the charging is continued, and the output electric quantity is larger than the input electric quantity and returns to the cabin for battery replacement;
and the path re-simulating unit is used for performing path re-simulating after receiving the electric quantity shortage alarm signal of the unmanned aerial vehicle cabin entering battery replacement module so as to realize the return operation.
7. A horseshoe movable nest for use with the power inspection control system of any of claims 1 to 6, said horseshoe movable nest comprising at least: the lifting device comprises a horseshoe-shaped moving wheel (1), a machine nest (2), a connecting rod mechanism (3), a cabin door (4), a balance sensor (5), a screw rod mechanism (6), a position sensor (7), a lifting table (8), a hydraulic lifting support column (9) and a lifting sensor (10).
8. The horseshoe-shaped movable machine nest according to claim 7, wherein the horseshoe-shaped movable wheel (1) is used for moving the machine nest, and an extreme condition can trigger the balance sensor (5) to give a command to the hydraulic lifting support column (9) so as to automatically adjust the height of the position.
9. The horseshoe-type movable machine nest according to claim 8, characterized in that the linkage (3) is used for the opening and closing of the machine nest (2) and the hatch door (4); the push rod sensor is arranged in the link mechanism (3) and used for receiving a patrol command issued by the control center to push the link mechanism to act, and when the unmanned aerial vehicle starts to leave the cabin, the push rod mechanism starts to act.
10. The horseshoe-shaped movable machine nest according to claim 9, wherein the screw rod mechanism (6) is used for driving the screw rod to change the position of the lifting platform (8) through the motor, the supporting plate is also arranged in the screw rod rotating process to enable the lifting platform to move up and down along with the rotation of the screw rod, and meanwhile, the position sensor (7) interacts with position sensor data on the unmanned aerial vehicle when the unmanned aerial vehicle is required to return to the cabin due to the fact that the unmanned aerial vehicle cruises, the electric quantity is insufficient and other reasons, so that the unmanned aerial vehicle can be accurately positioned on the lifting platform (8).
11. The horseshoe-shaped movable machine nest according to claim 10, wherein the hydraulic lifting support column (9) adopts a hydraulic rod cylinder body, and the lifting sensor (10) is used for controlling a motor to drive a screw rod to move up and down to control the height, so that the hydraulic lifting support column (9) is driven to push the lifting platform (8) to move up and down, and the unmanned aerial vehicle can smoothly go out of the cabin to cruise and return to the cabin.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118175428A (en) * | 2024-05-11 | 2024-06-11 | 江西政高技术服务有限公司 | Method, system and equipment for monitoring power transmission panorama |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118175428A (en) * | 2024-05-11 | 2024-06-11 | 江西政高技术服务有限公司 | Method, system and equipment for monitoring power transmission panorama |
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