CN105170523A - Electrified insulator cleaning method based on unmanned aerial vehicle - Google Patents
Electrified insulator cleaning method based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105170523A CN105170523A CN201510609282.XA CN201510609282A CN105170523A CN 105170523 A CN105170523 A CN 105170523A CN 201510609282 A CN201510609282 A CN 201510609282A CN 105170523 A CN105170523 A CN 105170523A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- insulator
- nozzles
- clean
- valve
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- 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
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
- B08B2203/0258—Multiple lance high pressure cleaning station
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
一种基于无人机的带电清洗绝缘子方法，其特征是：通过操控无人机上并排设置的清洁剂喷头、清水普通喷头和高压喷头，三喷头的喷点相同，同时利用在无人机腹部设有的摄像头来监控实时清洗画面，来达到清洗绝缘子的目的；首先将无人机上的喷头对准绝缘子需要清洗部位，先喷射清洁剂在绝缘子上的积污，等待数秒后用清水喷头来清洗绝缘子积污，并将监控实时画面通过数传电台传回地面站，地面站根据画面判断清洗部位是否洁净，若仍有污垢，则用高压喷头清洗，并将实时监控画面传回地面站。本发明的有益效果是：可以有效降低工作人员在带电清洗时发生危险的可能性，同时分三步进行清洗，提高了绝缘子清洗的效率和水资源的利用率。
A method for live cleaning insulators based on drones, characterized in that: by manipulating the spray nozzles of detergent, common water nozzles and high-pressure nozzles arranged side by side on the drone, the spray points of the three nozzles are the same, and at the same time, the spray points of the three nozzles are the same, and at the same time, the nozzles installed on the belly of the drone are used to clean the insulators. There are cameras to monitor the real-time cleaning screen to achieve the purpose of cleaning the insulators; first, aim the nozzle on the drone at the part of the insulator that needs to be cleaned, first spray the cleaning agent on the dirt on the insulator, wait for a few seconds and then use the water nozzle to clean the insulator Contamination, and the monitoring real-time picture is sent back to the ground station through the digital transmission station. The ground station judges whether the cleaning part is clean according to the picture. If there is still dirt, it is cleaned with a high-pressure nozzle, and the real-time monitoring picture is sent back to the ground station. The beneficial effect of the invention is that it can effectively reduce the danger possibility of workers during electrification cleaning, and at the same time perform cleaning in three steps, thereby improving the cleaning efficiency of insulators and the utilization rate of water resources.
Description
Technical field
The invention belongs to unmanned plane applied technical field, the contamination especially for insulator surface has good cleaning performance, can be widely used in the insulator in the various power equipment of cleaning.
Background technology
The discharge activities on insulator surface in Long-Time Service process may make pollution layer change, thus affects the contamination accumulation characteristics of insulator.The pollution flashover accident of insulator can cause serious threat and huge economic loss to the safe operation of power system.
China launches one of antifouling work work country comparatively early in the world, existing nearly 50 years till now, and the main scrubbing mode adopted sweeps and is coated with.Concrete grammar has power failure hand sweeping, the cleaning of charged water, charged gas cleanup, machinery charged dry cleaning and brushing antifouling paint etc.
At present, most of cleaning works is all cleaned with charged water, and is manual work.Not only effect is bad in so remote cleaning, also very waste water resource, and the area for lack of water also cannot be suitable for.But along with microelectric technique and manufacturing development, replace manual work to become more and more feasible with unmanned plane.With unmanned plane replace manually carrying out closely, high-precision cleaning, can not only cleaning be made a good job of, compared to artificial remote cleaning, the object of saving water resource can also be reached, water-deficient area is had great significance.
Summary of the invention
Object of the present invention in order to solve the safety problem of the power system that contamination on insulator affects, can be widely used on all kinds of unmanned plane just.
The object of the invention is to realize by following technical solution.
A kind of charged cleaning insulator method based on unmanned plane, feature of the present invention is: by cleaning agent shower nozzle, the common shower nozzle of clear water and high-pressure nozzle that manipulation unmanned plane is arranged side by side, the specking of three shower nozzles is identical, utilize the camera be provided with at unmanned plane belly to monitor simultaneously and clean picture in real time, reach the object of cleaning insulator; First the shower nozzle on unmanned plane is needed to clean position to quasi-insulator, first spray cleaning agent contamination on the insulator, insulator contamination is cleaned with clear water shower nozzle after waiting for the several seconds, and pass monitoring real-time pictures back earth station by data radio station, according to picture, earth station judges that whether cleaning position is clean, if still have dirt, then with high-pressure nozzle cleaning, and pass real-time monitored picture back earth station.
The present invention is provided with three operated valve buttons in earth station, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clear target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
The present invention is for keeping a safe distance with it when ensureing unmanned plane cleaning insulator, by the GPS installed in unmanned plane frame, the path locus of Real-time Obtaining unmanned plane during flying and coordinate, and the trouble free service distance being ensured unmanned plane and insulator by its ultrasonic distance measuring module carried.
When unmanned plane is implemented of the present invention, by ground station control valve.Specifically can be set to: extra output three signals in the flight control system of unmanned plane, control three valves of its correspondence respectively.Unmanned plane accepts ground-launched control signal by the number number of delivering a letter, and arranges the input signal that corresponding valve control knob controls three valves simultaneously, thus reach the on off state of controlled in wireless three valves on ground.
Range sensor of the present invention is ultrasonic distance measuring module.
The invention has the beneficial effects as follows: effectively can reduce the possibility that staff causes danger when charged cleaning, clean with time-division three step, improve the efficiency of insulator cleaning and the utilization rate of water resource.
The technical problem that the present invention solves is:
With the charged cleaning insulator of unmanned plane, compared to power failure manual cleaning with clean at a distance with water column, both improve cleaning efficiency, also saved water resource.When carrying out work high above the ground with unmanned plane, need to use three buttons to control three shower nozzle valves that unmanned plane carries.And these three valves must be opened in order, and during the 3rd high-pressure nozzle valve opening, need inquiry ground platform.
For the control of these three valves, can control by exporting order in flight control system.Unmanned plane aim at cleaning target insulator and stabilized flight time, whether demand operating person opens cleaning model.After unmanned plane receives startup command, open first valve jet cleaner, open second valve injection low pressure water flow after the several seconds and clean spot; Carry out contamination on Real Time Observation insulator by monitoring camera whether to clean up, if cleaned up not yet, open the 3rd valve inject high pressure current, thus reach the effect of thoroughly cleaning contamination.
In this course of work, unmanned plane and insulator is needed to keep the operating distance of safety, use the ultrasonic distance measuring module be carried in unmanned plane frame to transfer data to terrestrial operation person in real time, reach safe distance by artificial regulatory, and allow unmanned plane keep flight stability.
The present invention utilize unmanned plane flexibly, the feature of mobility strong, insulator is cleaned in conjunction with airborne combined sprinkler, not only handling safety, and can also Real-time Feedback, remove contamination timely and effectively, the pollution flashover problem caused because of contamination for prevention insulator and great power failure have important meaning.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of unmanned plane; 1. cleaning agent shower nozzle 2. low pressure shower nozzle 3. high-pressure nozzle 4. frame 5. camera 6 ultrasonic range finders in figure;
Fig. 2 is the flow chart of unmanned plane cleaning insulator.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
See Fig. 1, Fig. 2, the method that the insulator based on unmanned plane cleans:
A kind of charged cleaning insulator method based on unmanned plane, feature of the present invention is: by cleaning agent shower nozzle, the common shower nozzle of clear water and high-pressure nozzle that manipulation unmanned plane is arranged side by side, the specking of three shower nozzles is identical, utilize the camera be provided with at unmanned plane belly to monitor simultaneously and clean picture in real time, reach the object of cleaning insulator; First the shower nozzle on unmanned plane is needed to clean position to quasi-insulator, first spray cleaning agent contamination on the insulator, insulator contamination is cleaned with clear water shower nozzle after waiting for the several seconds, and pass monitoring real-time pictures back earth station by data radio station, according to picture, earth station judges that whether cleaning position is clean, if still have dirt, then with high-pressure nozzle cleaning, and pass real-time monitored picture back earth station.
The present invention is provided with three operated valve buttons in earth station, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clear target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
The present invention is for keeping a safe distance with it when ensureing unmanned plane cleaning insulator, by the GPS installed in unmanned plane frame, the path locus of Real-time Obtaining unmanned plane during flying and coordinate, and the trouble free service distance being ensured unmanned plane and insulator by its ultrasonic distance measuring module carried.
When unmanned plane is implemented of the present invention, by ground station control valve.Specifically can be set to: extra output three signals in the flight control system of unmanned plane, control three valves of its correspondence respectively.Unmanned plane accepts ground-launched control signal by the number number of delivering a letter, and arranges the input signal that corresponding valve control knob controls three valves simultaneously, thus reach the on off state of controlled in wireless three valves on ground.
By installing cleaning agent, low pressure shower nozzle and high-pressure nozzle in the frame of unmanned plane, and have three corresponding with it valves, these three valve passages additionally increase by three control signal output channels by flight control system respectively and transmit control by earth station by number.
Step one: before cleaning insulator, first come the contamination on quasi-insulator by the camera be placed on unmanned plane.Utilize the ultrasonic wave module be arranged in flight control system to measure the distance of unmanned plane and insulator and to pass operating desk back, keep the comparatively safe distance of unmanned plane and insulator.Unmanned plane aim at cleaning target insulator and stabilized flight time, whether demand operating person opens cleaning model.
Step 2: open first valve jet cleaner after unmanned plane receives startup command, opens second valve injection low pressure water flow and cleans spot after the several seconds; Carry out contamination on Real Time Observation insulator by monitoring camera whether to clean up, if cleaned up not yet, open the 3rd valve inject high pressure current, thus reach the effect of thoroughly cleaning contamination.
Step 3: user arranges three operated valve buttons by earth station, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clean target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
As the structural representation that Fig. 1 is unmanned plane, wherein, 1 is cleaning agent shower nozzle, and 2 is low pressure shower nozzles, and 3 is high-pressure nozzles, and 4 is bodies, and 5 is ultrasonic distance measuring modules, and 6 is monitoring cameras.Ultrasonic distance measuring module is arranged in unmanned plane frame, also needs to ensure that aqueduct shower nozzle is not blocked.
As the system flow chart that Fig. 2 is this method, unmanned plane needs to work under the environment of a safety, so avoid operation under the environment of strong wind as far as possible.First, position and stable flight accurately be kept, this need the flight control system of unmanned plane and ultrasonic distance measuring module with the use of.Position after unmanned plane is stablized and monitored picture transmission meeting ground, confirm position accurately safety rear unlatching cleaning agent valve and low pressure shower nozzle valve, and determine whether open high-pressure nozzle valve at observation clean-up performance, finally confirm that clean rear unmanned plane can make a return voyage safely.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510609282.XA CN105170523A (en) | 2015-09-23 | 2015-09-23 | Electrified insulator cleaning method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510609282.XA CN105170523A (en) | 2015-09-23 | 2015-09-23 | Electrified insulator cleaning method based on unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105170523A true CN105170523A (en) | 2015-12-23 |
Family
ID=54893214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510609282.XA Pending CN105170523A (en) | 2015-09-23 | 2015-09-23 | Electrified insulator cleaning method based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105170523A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855222A (en) * | 2016-04-29 | 2016-08-17 | 钟爱华 | A multi-angle cleaning device and construction method for iron tower pile insulators of high-voltage power grid |
| CN105944996A (en) * | 2016-04-29 | 2016-09-21 | 钟爱华 | A special cleaning device for iron tower pile insulators and its construction method |
| CN106092213A (en) * | 2016-08-17 | 2016-11-09 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106829267A (en) * | 2016-08-31 | 2017-06-13 | 苏州迈力电器有限公司 | Garbage transfer, treatment monitoring system |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN107831495A (en) * | 2016-09-15 | 2018-03-23 | 天津思博科科技发展有限公司 | Intelligent aerial platform based on three-dimensional localization techniques |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN108248842A (en) * | 2018-01-25 | 2018-07-06 | 汕头市创新科技电子有限公司 | Suitable for high-altitude supersonic dust removal cleaner system |
| CN109436331A (en) * | 2018-11-19 | 2019-03-08 | 深圳供电局有限公司 | Cleaning system and cleaning method based on unmanned aerial vehicle |
| CN112495894A (en) * | 2020-10-27 | 2021-03-16 | 国网福建省电力有限公司检修分公司 | Method for realizing anti-pollution flashover electrification control by using unmanned aerial vehicle platform |
| CN114985142A (en) * | 2022-05-30 | 2022-09-02 | 国网山东省电力公司潍坊市寒亭区供电公司 | An insulator cleaning device and method based on an improved nozzle |
| CN115258161A (en) * | 2022-08-27 | 2022-11-01 | 中电星原科技有限公司 | Emergency decontamination method for unmanned aerial vehicle core |
| CN118092489A (en) * | 2024-02-29 | 2024-05-28 | 广州迪测智能科技有限公司 | Multi-aircraft collaborative operation system |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994019851A1 (en) * | 1993-02-18 | 1994-09-01 | Ian Mclean | Hydro service system assembly |
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | A flying robot for testing transmission line insulators |
| CN201788238U (en) * | 2010-03-23 | 2011-04-06 | 王柏林 | Novel device for detecting performance of an insulator |
| CN202043246U (en) * | 2011-05-17 | 2011-11-16 | 云南电网公司普洱供电局 | Remote data collector for fixed wing unmanned plane line inspection |
| CA2780419A1 (en) * | 2011-06-17 | 2012-12-17 | National Cheng Kung University | Unmanned aerial vehicle image processing system and method |
| CN102879692A (en) * | 2012-10-16 | 2013-01-16 | 山东电力集团公司电力科学研究院 | Method and device for detecting insulator through multi-rotor unmanned aerial vehicle |
| CN103690110A (en) * | 2012-09-27 | 2014-04-02 | 昆山冠强软件科技有限公司 | High-rise outer wall cleaning device based on helicopter aviation model |
| CN104028496A (en) * | 2014-05-30 | 2014-09-10 | 昆山中士设备工业有限公司 | Centrifugal screw rod cleaning equipment |
| CN104224062A (en) * | 2014-09-03 | 2014-12-24 | 深圳市大疆创新科技有限公司 | UAV and method for cleaning wall thereof, wall cleaning system using the UAV |
| CN104298248A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle |
| CN104324913A (en) * | 2014-09-26 | 2015-02-04 | 安徽新迪机电科技有限责任公司 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
| CN104639914A (en) * | 2015-02-16 | 2015-05-20 | 国网安徽省电力公司铜陵供电公司 | Device and method for high-voltage power line insulator imaging and contaminant detection |
| CN104787342A (en) * | 2015-05-11 | 2015-07-22 | 厦门大学 | UAV-based curtain wall cleaning method |
-
2015
- 2015-09-23 CN CN201510609282.XA patent/CN105170523A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994019851A1 (en) * | 1993-02-18 | 1994-09-01 | Ian Mclean | Hydro service system assembly |
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | A flying robot for testing transmission line insulators |
| CN201788238U (en) * | 2010-03-23 | 2011-04-06 | 王柏林 | Novel device for detecting performance of an insulator |
| CN202043246U (en) * | 2011-05-17 | 2011-11-16 | 云南电网公司普洱供电局 | Remote data collector for fixed wing unmanned plane line inspection |
| CA2780419A1 (en) * | 2011-06-17 | 2012-12-17 | National Cheng Kung University | Unmanned aerial vehicle image processing system and method |
| CN103690110A (en) * | 2012-09-27 | 2014-04-02 | 昆山冠强软件科技有限公司 | High-rise outer wall cleaning device based on helicopter aviation model |
| CN102879692A (en) * | 2012-10-16 | 2013-01-16 | 山东电力集团公司电力科学研究院 | Method and device for detecting insulator through multi-rotor unmanned aerial vehicle |
| CN104028496A (en) * | 2014-05-30 | 2014-09-10 | 昆山中士设备工业有限公司 | Centrifugal screw rod cleaning equipment |
| CN104224062A (en) * | 2014-09-03 | 2014-12-24 | 深圳市大疆创新科技有限公司 | UAV and method for cleaning wall thereof, wall cleaning system using the UAV |
| CN104324913A (en) * | 2014-09-26 | 2015-02-04 | 安徽新迪机电科技有限责任公司 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
| CN104298248A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle |
| CN104639914A (en) * | 2015-02-16 | 2015-05-20 | 国网安徽省电力公司铜陵供电公司 | Device and method for high-voltage power line insulator imaging and contaminant detection |
| CN104787342A (en) * | 2015-05-11 | 2015-07-22 | 厦门大学 | UAV-based curtain wall cleaning method |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855222A (en) * | 2016-04-29 | 2016-08-17 | 钟爱华 | A multi-angle cleaning device and construction method for iron tower pile insulators of high-voltage power grid |
| CN105944996A (en) * | 2016-04-29 | 2016-09-21 | 钟爱华 | A special cleaning device for iron tower pile insulators and its construction method |
| CN106092213A (en) * | 2016-08-17 | 2016-11-09 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106829267A (en) * | 2016-08-31 | 2017-06-13 | 苏州迈力电器有限公司 | Garbage transfer, treatment monitoring system |
| CN107831495A (en) * | 2016-09-15 | 2018-03-23 | 天津思博科科技发展有限公司 | Intelligent aerial platform based on three-dimensional localization techniques |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN108248842A (en) * | 2018-01-25 | 2018-07-06 | 汕头市创新科技电子有限公司 | Suitable for high-altitude supersonic dust removal cleaner system |
| CN108248842B (en) * | 2018-01-25 | 2021-06-04 | 汕头市创新科技电子有限公司 | High-altitude ultrasonic dust removal cleaning machine system |
| CN109436331A (en) * | 2018-11-19 | 2019-03-08 | 深圳供电局有限公司 | Cleaning system and cleaning method based on unmanned aerial vehicle |
| CN112495894A (en) * | 2020-10-27 | 2021-03-16 | 国网福建省电力有限公司检修分公司 | Method for realizing anti-pollution flashover electrification control by using unmanned aerial vehicle platform |
| CN114985142A (en) * | 2022-05-30 | 2022-09-02 | 国网山东省电力公司潍坊市寒亭区供电公司 | An insulator cleaning device and method based on an improved nozzle |
| CN115258161A (en) * | 2022-08-27 | 2022-11-01 | 中电星原科技有限公司 | Emergency decontamination method for unmanned aerial vehicle core |
| CN118092489A (en) * | 2024-02-29 | 2024-05-28 | 广州迪测智能科技有限公司 | Multi-aircraft collaborative operation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105170523A (en) | Electrified insulator cleaning method based on unmanned aerial vehicle | |
| CN104324913B (en) | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof | |
| CN109759377B (en) | Intelligent cleaning method, system and ground station for distributed photovoltaic system | |
| US10011352B1 (en) | System, mobile base station and umbilical cabling and tethering (UCAT) assist system | |
| CN109436331A (en) | Cleaning system and cleaning method based on unmanned aerial vehicle | |
| CN109334543A (en) | Power line inspection system and method with cooperation of power inspection vehicle and unmanned aerial vehicle | |
| CN106092213B (en) | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique | |
| CN105173081A (en) | System and method for insulator pollution removal by using unmanned aerial vehicle | |
| DE102013101194A1 (en) | Method for e.g. coloring uneven surface of house wall with hover-enabled aircraft e.g. quadrocopter, involves filling tank with treatment agent, and carrying out continuous travel of aircraft at location proximity to treatment surface | |
| CN113426765A (en) | Method and system for cleaning surface of solar photovoltaic panel by dry ice | |
| CN108010598A (en) | A kind of device for realizing low latitude sprinkling multicomponent depressor | |
| CN112520037A (en) | Full topography photovoltaic cleaning system based on heavy load unmanned aerial vehicle | |
| CN114367487B (en) | Unmanned aerial vehicle high-voltage electrified water flushing system, method and storage medium | |
| CN208571437U (en) | Transmission facility cleaning device is charged in high-altitude based on unmanned plane | |
| CN105355343A (en) | Unmanned sweeping device for power insulators | |
| CN205085049U (en) | Wash insulator device with electricity based on unmanned aerial vehicle | |
| CN215236482U (en) | A system for cleaning the surface of solar photovoltaic panels with dry ice | |
| CN113458088A (en) | Method and system for cleaning surface of solar photovoltaic panel | |
| AU2016100108A4 (en) | Beyond line of sight flying drone surface cleaner | |
| US11675335B2 (en) | Robotic systems and methods to treat vertical external surface of structure | |
| CN213222835U (en) | Plant protection unmanned aerial vehicle device of giving medicine to poor free of charge | |
| CN209979439U (en) | Unorganized dust environment monitoring system | |
| CN209396047U (en) | Cleaning system based on unmanned aerial vehicle | |
| CN110058558A (en) | A kind of work data statistical system of plant protection drone | |
| CN204134992U (en) | A kind of flying disc type photovoltaic battery panel washer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151223 |