CN208013788U - High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system - Google Patents
High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system Download PDFInfo
- Publication number
- CN208013788U CN208013788U CN201820568236.9U CN201820568236U CN208013788U CN 208013788 U CN208013788 U CN 208013788U CN 201820568236 U CN201820568236 U CN 201820568236U CN 208013788 U CN208013788 U CN 208013788U
- Authority
- CN
- China
- Prior art keywords
- laser radar
- data processing
- processing module
- drone body
- refine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model discloses a kind of high-tension overhead lines and shaft tower to refine inspection intelligent barrier avoiding system, including ground control station, laser radar, laser radar data processing module and drone body, the laser radar and laser radar data processing module are arranged on the undercarriage below drone body, the ground control station includes remote control equipment and avoidance obstacle device, remote control equipment is wirelessly communicated with drone body and is connect, and avoidance obstacle device is wirelessly communicated with laser radar data processing module and connect.The utility model can solve that existing unmanned plane obstacle avoidance apparatus poor anti jamming capability, range accuracy be low, technical problem to environmental requirement harshness by additionally adding the avoidance obstacle device of laser radar and ground, realize precision ranging.
Description
Technical field
The utility model is related to image super-resolution research field in video monitoring, more particularly to a kind of high-tension overhead line
And shaft tower refines inspection intelligent barrier avoiding system.
Background technology
Currently, ultra-high-tension power transmission line has become the backbone network of power grid, China's power transmission capacity is enhanced, power grid is improved
It builds and falls behind problem.As power grid construction is accelerated, transmission line structure becomes complicated, and circuit distribution is also increasingly wider, line
The region that road is passed through mostly is the area of bad environments, this brings very big influence to power network safety operation.
Electric Power Patrol multi-rotor unmanned aerial vehicle is combined as the portable health check tool of teams and groups with manual inspection, main to apply
In the daily tour of overhead transmission line, dynamic (special) tour, fault inspection, detection, emergent mapping and small range channel check
Etc..Therefore, during unmanned plane during flying avoidance to ensure that man-machine safety is particularly important.
Current ultrasonic ranging avoidance and binocular distance measurement avoidance all has strict requirements to environment and barrier,
It is not suitable for the adverse circumstances of power grid inspection.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the prior arts with it is insufficient, a kind of high-tension overhead line and bar are provided
Tower refines inspection intelligent barrier avoiding system, and it is anti-dry which by using laser radar can solve existing unmanned plane obstacle avoidance apparatus
Disturbing can force difference, range accuracy be low, technical problem to environmental requirement harshness.
The purpose of this utility model is realized by the following technical solution：High-tension overhead line and shaft tower refine inspection intelligence
Energy obstacle avoidance system, including ground control station, laser radar, laser radar data processing module and drone body, it is described to swash
Optical radar and laser radar data processing module are arranged on the undercarriage below drone body, and the ground control station includes
Remote control equipment and avoidance obstacle device, remote control equipment are wirelessly communicated with drone body and are connect, avoidance obstacle device with swash
Optical radar data processing module wirelessly communicates connection.The utility model is by additionally adding laser radar and ground
Avoidance obstacle device, precision ranging may be implemented.
Preferably, the drone body is equipped with camera, and the laser radar, laser radar data processing module are set
It sets in the both sides of camera.This structure setting is convenient for balance unmanned plane.
Preferably, the laser radar and laser radar data processing module are fixed on undercarriage by 3D printing method
On.To make to be integrally formed, position is fixed, and will not be shaken in flight course.
Preferably, the laser radar uses 360 ° of omnidirectional type laser radars.So as to realize to complete around unmanned plane
The obstacle detection in orientation.
The utility model compared with prior art, has the following advantages that and advantageous effect：
Increase the avoidance obstacle device of laser radar, laser radar data processing module and ground in the utility model newly,
Can secure threshold be set in avoidance obstacle device, then pass through whether there are obstacles around the current unmanned plane of lidar measurement
And the distance of barrier is calculated, judge whether to need avoidance.The utility model can it is anti-interference with simple system structure height,
High efficiency is accurately proceed barrier ranging, realizes the intelligent independent avoidance of unmanned plane, and having can be wide in unmanned plane avoidance
The condition of general application.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is the laser radar operation principle schematic diagram of the utility model embodiment.
Fig. 3 is the laser radar positive structure schematic of the utility model embodiment.
Fig. 4 is the use state diagram of the utility model embodiment.
Fig. 5 is the present embodiment flow chart of work methods.
In figure, 1- ground control stations, 2- laser radars, 3- laser radar data processing modules, 4- drone bodies, 5-3D
The bindiny mechanism of printing, 6- undercarriages, 7- cameras, 8- laser emitters, 9- laser inductors, 10- tablet computers, 11- are distant
Control equipment, 12- barriers.
Specific implementation mode
The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model
Mode is without being limited thereto.
Embodiment
As shown in Figs 1-4, the present embodiment high-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system, including ground
Control station 1, laser radar 2, laser radar data processing module 3 and drone body 4.The laser radar 2 and laser thunder
It is fixed on unmanned plane undercarriage 6 by the bindiny mechanism 5 of 3D printing up to data processing module 3, while laser radar 2 and laser
Radar data processing module 3 is also located at the both sides of unmanned plane camera 7.The ground control station 1 includes tablet computer 10
With remote control equipment 11.The tablet computer 10 wirelessly communicates connection with laser radar data processing module 3.Remote control is set
Standby 11 wirelessly communicate connection with drone body 4,
Below in conjunction with the accompanying drawings 5, the course of work of the present embodiment is specifically described.
When in use, operator pre-sets the secure threshold of unmanned plane and barrier, is refined and is known using laser radar 2
Other barrier 12, and by being transferred to laser radar data processing module 3 after 2 gathered data of laser radar, distance is calculated
After data, it is wirelessly transferred to the tablet computer 10 on ground, tablet computer 10 judges current unmanned plane and barrier
Distance assigns hovering instruction, or calculate by increment type PID if the distance is less than or equal to secure threshold to drone body 4
Method, calculates the controlling value of output level direction and vertical direction, and unmanned plane movement instruction is radioed to unmanned plane sheet
Body 4 makes drone body 4 independently retreat, with barrier 12 apart from return secure threshold；If more than secure threshold, then continue to hold
The instruction of remote control equipment 11 in row ground control station 1.
In the present embodiment, the laser radar 2 is 360 ° of omnidirectional type laser radars, can realize the front to unmanned plane,
Lower section, rear carry out barrier 12 and detect, and its powerful scanning resolution can identify the subtle thread such as conducting wire
Body.Lock 12 target of barrier after, light pulse is continuously transmitted to target by laser emitter 8, with laser inductor 9 receive from
The light that object returns, acquires the flight time of detecting optical pulses, and be sent to laser radar data processing module 3.
The laser radar data processing module 3 is received and is parsed to the data of laser radar 2, existing by some
Logical algorithm identify the data of barrier 12, then drone body 4 and obstacle are calculated by the formula of trigonometric function
The air line distance of object 12, and by the data of air line distance by wireless communication transmission to tablet computer 10.
The remote control equipment 11 is connect by wireless telecommunications with drone body 4, and operator is by remote control equipment 11 to nothing
Man-machine ontology 4 assigns instruction.
The tablet computer 10 can be input and the secure threshold of barrier 12 in the forefathers that take off of drone body 4.Together
When, also it can judge that the air line distance is by logical formula after the air line distance data for receiving laser radar data processing module 3
The no secure threshold for being less than setting, thus judges whether avoidance.If being equal to secure threshold, assigned to drone body 4 " outstanding
Stop " instruction；If being less than secure threshold, by increment type PID algorithm, the control of output level direction and vertical direction is calculated
Value makes drone body 4 independently retreat, with barrier 12 to which unmanned plane movement instruction is radioed to drone body 4
Distance returns to secure threshold；If more than secure threshold, then the instruction of remote control equipment 11 in ground control station 1 is continued to execute.
Above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to the embodiment of the utility model.For those of ordinary skill in the art, on the basis of above description
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in this reality
Within novel scope of the claims.
Claims (4)
1. high-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system, which is characterized in that including ground control station, laser
Radar, laser radar data processing module and drone body, the laser radar and laser radar data processing module are set
It sets on the undercarriage below drone body, the ground control station includes remote control equipment and avoidance obstacle device, remote control equipment
It wirelessly communicates and connect with drone body, avoidance obstacle device and laser radar data processing module are wirelessly
Communication connection.
2. high-tension overhead line according to claim 1 and shaft tower refine inspection intelligent barrier avoiding system, which is characterized in that
The drone body is equipped with camera, and the laser radar, laser radar data processing module are arranged the two of camera
Side.
3. high-tension overhead line according to claim 1 and shaft tower refine inspection intelligent barrier avoiding system, which is characterized in that
The laser radar and laser radar data processing module are fixed on by 3D printing method on undercarriage.
4. high-tension overhead line according to claim 1 and shaft tower refine inspection intelligent barrier avoiding system, which is characterized in that
The laser radar uses 360 ° of omnidirectional type laser radars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820568236.9U CN208013788U (en) | 2018-04-20 | 2018-04-20 | High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820568236.9U CN208013788U (en) | 2018-04-20 | 2018-04-20 | High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208013788U true CN208013788U (en) | 2018-10-26 |
Family
ID=63893028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820568236.9U Active CN208013788U (en) | 2018-04-20 | 2018-04-20 | High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208013788U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541613A (en) * | 2018-11-26 | 2019-03-29 | 国网宁夏电力有限公司银川供电公司 | Aerial high-voltage conducting wire cruising inspection system and method for inspecting based on single line laser ranging |
| CN110989671A (en) * | 2019-12-11 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Unmanned aerial vehicle-based power transmission line and tower shooting system and method |
| CN111880562A (en) * | 2020-07-16 | 2020-11-03 | 河南理工大学 | Unmanned aerial vehicle ground-imitating flying device based on laser radar |
-
2018
- 2018-04-20 CN CN201820568236.9U patent/CN208013788U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541613A (en) * | 2018-11-26 | 2019-03-29 | 国网宁夏电力有限公司银川供电公司 | Aerial high-voltage conducting wire cruising inspection system and method for inspecting based on single line laser ranging |
| CN110989671A (en) * | 2019-12-11 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Unmanned aerial vehicle-based power transmission line and tower shooting system and method |
| CN111880562A (en) * | 2020-07-16 | 2020-11-03 | 河南理工大学 | Unmanned aerial vehicle ground-imitating flying device based on laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103224026B (en) | A kind ofly be applicable to dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network patrols and examines and workflow thereof | |
| CN208013788U (en) | High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system | |
| CN107650908B (en) | Unmanned vehicle environment sensing system | |
| CN203397214U (en) | Special unmanned helicopter obstacle-avoiding system suitable for tour inspection of electrical networks in mountain area | |
| CN102891453A (en) | Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar | |
| CN106896828B (en) | A kind of unmanned plane automated wireless charging method and system | |
| CN109813322A (en) | Unmanned plane cooperates navigation system with unmanned vehicle | |
| CN105785393A (en) | Unmanned aerial vehicle real-time imaging and obstacle avoidance system and method based on laser radar | |
| CN103730862A (en) | Unmanned aerial vehicle platform power line patrol system and work mode | |
| CN109541613A (en) | Aerial high-voltage conducting wire cruising inspection system and method for inspecting based on single line laser ranging | |
| CN104015931A (en) | Vision localization, measurement and control method, system and experimental platform for automatic refueling dead zone of unmanned aerial vehicle | |
| CN107037845A (en) | One kind is taken photo by plane UAV Flight Control System | |
| CN202783793U (en) | Overhead focusing control device of unmanned aircraft | |
| CN204068025U (en) | Unmanned aerial vehicle platform power-line patrolling system | |
| CN103455822A (en) | Inspection robot system in complex industrial environment and multi-face dynamic tracking method | |
| CN109001756A (en) | Multi-line laser radar obstacle detection system and method based on embedded device | |
| CN109002057A (en) | A kind of intelligent patrol detection UAV system of cable tunnel | |
| CN105610087A (en) | Power transmission line inspection system of power grid | |
| CN109885091B (en) | Unmanned aerial vehicle autonomous flight control method and system | |
| CN205039445U (en) | Electric power inspection system | |
| CN105610960A (en) | Power grid power transmission line patrolling system | |
| CN114237277A (en) | Unmanned aerial vehicle keeps away barrier system based on millimeter wave radar and nearly electric induction | |
| CN202817605U (en) | UAV routing-inspection line corridor device based on millimeter-wave radar | |
| CN104536460A (en) | Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle | |
| CN109708659B (en) | Distributed intelligent photoelectric low-altitude protection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Intelligent obstacle avoidance system for fine inspection of high voltage overhead lines and towers Effective date of registration: 20201021 Granted publication date: 20181026 Pledgee: Bank of Guangzhou Co., Ltd. xingangzhong sub branch Pledgor: GUANGZHOU JIZHEN INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020440000326 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211126 Granted publication date: 20181026 Pledgee: Bank of Guangzhou Co., Ltd. xingangzhong sub branch Pledgor: GUANGZHOU JIZHEN INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2020440000326 |