CN106681347A - Gesture controllable wireless charge detecting UAV - Google Patents
Gesture controllable wireless charge detecting UAV Download PDFInfo
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- CN106681347A CN106681347A CN201611258534.XA CN201611258534A CN106681347A CN 106681347 A CN106681347 A CN 106681347A CN 201611258534 A CN201611258534 A CN 201611258534A CN 106681347 A CN106681347 A CN 106681347A
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- unmanned plane
- electrical verification
- electroscope
- controller
- photographic head
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- 230000005684 electric field Effects 0.000 claims abstract description 29
- 238000012795 verification Methods 0.000 claims description 76
- 239000000523 sample Substances 0.000 claims description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 230000001939 inductive effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 7
- 206010014357 Electric shock Diseases 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention belongs to the technical field of UAVs (Unmanned Aerial Vehicle) and discloses a gesture controllable wireless charge detecting UAV. The gesture controllable wireless charge detecting UAV is characterized by comprising a UAV, a wireless electroscope arranged on the UAV and an electroscope direction adjusting structure. The wireless electroscope includes an electric field sensor, an electroscope support and a charge detection controller arranged in the electroscope support. The electroscope support is fixed on the body of the UAV. The electric field sensor is fixed on the electroscope direction adjusting structure and adjusts the extending direction and range of the electric field sensor in cooperation with the flight gestures of the UAV. The electric field sensor is connected with the charge detection controller. The charge detection controller is connected with a flight controller of the UAV and is in communication with a UAV ground station. The invention provides the UAV capable of adapting to complicated charge detection environments.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of controlled attitude type is wireless electrical verification unmanned plane.
Background technology
Electroscope is a kind of instrument for checking object whether powered.According to electrical verification pattern, electroscope can be divided into and connect
Touch electroscope and non-contact type electricity checking device.
Wherein, non-contact type electricity checking device is a kind of electroscope, and it is not directly contacted with object under test, is widely used in
The electrical verification of the dangerous objects such as high-voltage line.Existing non-contact type electricity checking device, by portions such as electric-field sensor, process circuit and signal designations
Divide and constitute, whether the non-contact type electricity checking device checks object under test powered by the electric field intensity of detection object under test, passes through
The signal designation structure of additional display lamp or buzzer etc has sent electricity or without electrical information.
During the present invention is realized, inventor has found that prior art at least has problems with：Although need not be straight
Contact electrical body, but the high-tension line environment of load still needs close-in measurement, generally also needs to upper and lower large-scale electric tower,
Labor intensity is still larger, there is certain potential safety hazard；Especially for the large-scale electric tower that line environment is complicated, the peace of measurement
Full blast danger is higher.Meanwhile, signal designation process is often not significantly, particularly noisy, in wide environment.
The content of the invention
The present invention provides a kind of controlled attitude type wireless electrical verification unmanned plane, solves in prior art in complex environment nobody
The electrical verification operation of machine high-altitude, gets an electric shock, and the security risk that collides is high and electrical verification indicates insecure technical problem.
To solve above-mentioned technical problem, the invention provides a kind of wireless electrical verification unmanned plane of controlled attitude type, including：Nobody
Machine, the wireless electroscope being arranged on the unmanned plane and electroscope orientation adjustment structure；
The wireless electroscope includes：Electric-field sensor, electroscope support and the electrical verification controller being provided at its inner portion；
The electroscope support is fixed on the unmanned aerial vehicle body；
The electric-field sensor is fixed in the electroscope orientation adjustment structure, and adjust electric-field sensor stretches out orientation
And scope, coordinate the flight attitude adjustment of the unmanned plane；
The electric-field sensor is connected with the electrical verification controller；The flight control of the electrical verification controller and the unmanned plane
Device processed is connected, and communicates with unmanned aerial vehicle station.
Further, the electroscope orientation adjustment structure includes：
Horizontal rotating chassis, the horizontal rotating chassis are rotatably fixed on the unmanned plane；
Deck is vertically rotated, the vertical rotation deck is rotatably fixed on the horizontal rotating chassis；
The electric-field sensor is buckled in the vertical rotation deck.
Further, the horizontal rotating chassis are movably connected by horizontal drive motor with the fuselage of the unmanned plane；
The vertical rotation deck, is movably connected by vertical motor with the horizontal rotating chassis；
The horizontal drive motor is with the vertical motor respectively by electric machine controller and the electrical verification controller
It is connected.
Further, an inducing probes are set on the electric-field sensor；The inducing probes are beyond the unmanned plane
Propeller scope.
Further, the shaft of the shank is scalable shaft.
Further, the electroscope support is fixedly linked by the Quick Release connector and the unmanned plane.
Further, the electrical verification controller is connected with the UAV Flight Control device by wire jumper.
Further, photographic head group is set on the unmanned plane, and is connected with the flight controller.
Further, the photographic head group is fixed on the unmanned plane by head.
Further, the photographic head group includes：Top photographic head, lower section shooting with the fuselage of unmanned plane as basic point
Head, left side photographic head, right side photographic head, front photographic head and rear photographic head.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The wireless electrical verification unmanned plane of controlled attitude type provided in the embodiment of the present application, by unmanned plane wireless electrical verification is carried
Device, performs near non-contact electricity testing operation for electrical verification object, by induction field information and feeds back to flight controller, sets up
Communication structure between earth station, obtains electrical verification indication signal；Electrical verification simple operation is efficiently, easy to operate, while improving
It is ageing；Importantly, ensure that the reliability of electrical verification indication signal by the communication structure of unmanned plane, it is ensured that grasp in Athens
The reliability of work.On the other hand, scheme is stretched out by the galvanoscopic electric-field sensor of adjustment, can highly avoids complicated electrical verification
Object in environment, it is to avoid unnecessary collision is even got an electric shock risk；Meanwhile, can also make unmanned plane be maintained at comparatively safe area
Domain, and then the electric shock of unmanned plane is avoided, collide security risk.
Further, by arranging shooting unit and cradle head structure, realize the vacant environmental monitoring of unmanned plane, tackle
Conductive environment, line construction, be capable of complete display carries out acquisition of information, it is ensured that the efficiency of electrical verification operation and safety.Pass through
The universe monitoring structure of six direction is arranged and can fully ensure that the visual field of unmanned plane, and then can adapt to more complicated electrical verification
Environment and safety.
Further, by rotating basiss can according to actual needs, adjust probe towards angle adjustment, so as to
The attitude for coordinating unmanned plane is adjusted, and to obtain position the safest, obtains more accurate measurement result；Accordingly,
Scalable shaft also improves to a certain extent adaptability of the unmanned plane to electrical verification environment.Water is controlled respectively by electric machine controller
Square to the motor with vertical direction, and it is unified in electrical verification controller, monitoring camera can be coordinated by earth station, holds
Row remote control, further improves the safety of whole machine.
Description of the drawings
The wireless electrical verification unmanned plane structural representation of controlled attitude type that Fig. 1 is provided for the present invention.
Specific embodiment
The embodiment of the present application is solved in prior art in complexity by providing a kind of controlled attitude type wireless electrical verification unmanned plane
Electrical verification operation in unmanned plane high-altitude in environment, gets an electric shock, and the security risk that collides is high and electrical verification indicates insecure technical problem；Reach
Adaptation internal force of the electrical verification operation to complex environment is lifted, security risk is reduced, the technique effect of the reliability that electrical verification is indicated is lifted.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application skill
The detailed description of art scheme, rather than to the restriction of technical scheme, in the case where not conflicting, the embodiment of the present application
And the technical characteristic in embodiment can be mutually combined.
Referring to Fig. 1, a kind of controlled attitude type is wireless electrical verification unmanned plane, including：Unmanned plane, it is arranged on the unmanned plane
Wireless electroscope and electroscope orientation adjustment structure.
Specifically, the wireless electroscope includes：Electric-field sensor, electroscope support and testing of being provided at its inner portion
Electric controller.
The electroscope support is fixed on the fuselage of the unmanned plane；The electric-field sensor is fixed on the electroscope
In orientation adjustment structure, adjust electric-field sensor stretches out orientation and scope, coordinates the flight attitude adjustment of the unmanned plane；I.e.
Orientation is stretched out by the electroscope orientation adjustment structural adjustment electric-field sensor, electric field induction is carried out, feedback electrical verification is indicated
Signal.
The electric-field sensor is connected with the electrical verification controller；The flight control of the electrical verification controller and the unmanned plane
Device processed is connected, and communicates with unmanned aerial vehicle station.That is, the electrical verification indication signal is fed back to into electrical verification controller, carries out tentatively adding
Work, and it is sent to flight controller.After flight controller is by the compiling of electrical verification indication signal, the earth station is sent to, that is, is exported
Electrical verification result.
That is, by carrying electroscope on unmanned plane, electrical verification operation is performed, and by electrical verification indication signal via flight control
Device and earth station
Further, the electroscope orientation adjustment structure includes：
Horizontal rotating chassis, the horizontal rotating chassis are rotatably fixed on the unmanned plane；
Deck is vertically rotated, the vertical rotation deck is rotatably fixed on the horizontal rotating chassis；
The electric-field sensor is buckled in the vertical rotation deck.
That is, the project setting structure of a horizontal direction and vertical direction is formed, it is concrete to perform stretching out for electric-field sensor
Direction adjustment operation.
Specifically, the horizontal rotating chassis are movably connected by horizontal drive motor with the fuselage of the unmanned plane；
The vertical rotation deck, is movably connected by vertical motor with the horizontal rotating chassis；
The horizontal drive motor is with the vertical motor respectively by electric machine controller and the electrical verification controller
It is connected.
That is, by the operation of earth station, controlled motor controller performs orientation adjustment.
Further, an inducing probes are set on the electric-field sensor；The inducing probes are beyond the unmanned plane
Propeller scope.The shaft of the shank is scalable shaft.
Further, the electroscope support is fixedly linked by the Quick Release connector and the unmanned plane.
Further, the electrical verification controller is connected with the UAV Flight Control device by wire jumper.
Further, photographic head group is set on the unmanned plane, and is connected with the flight controller.
Further, the photographic head group is fixed on the unmanned plane by head.
Further, the photographic head group includes：Top photographic head, lower section shooting with the fuselage of unmanned plane as basic point
Head, left side photographic head, right side photographic head, front photographic head and rear photographic head.
The electrical verification controller is connected with the UAV Flight Control device by wire jumper.Can convenient dismounting wire jumper energy
Galvanoscopic joint efficiency is enough lifted, and safeguards convenience.
Further, photographic head group is arranged on the unmanned plane to be connected with the flight controller.By multiple photographic head
Realize universe environmental monitoring, it is ensured that the flight safety of unmanned plane.
Preferably, the photographic head group is fixed on the unmanned plane by head.
The unmanned plane is four rotor wing unmanned aerial vehicles.
Further, the photographic head group includes：Top photographic head, lower section shooting with the fuselage of unmanned plane as basic point
Head, left side photographic head, right side photographic head, front photographic head and rear photographic head.Realize universe six to monitoring.
Lower mask body introduces the course of work, after unmanned plane lift-off, flies to electrical verification areas adjacent, is supervised by photographic head group universe
Control electrical verification regional environment information, and while control unmanned plane during flying attitude and it is galvanoscopic stretch out orientation, avoid environmental structure；It is complete
Into after electrical verification, electrical verification indication signal is sent to earth station by flight controller, exports electrical verification result.
And while control unmanned plane during flying attitude and it is galvanoscopic stretch out orientation, avoid environmental structure, fly away from electrical verification region.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The wireless electrical verification unmanned plane of controlled attitude type provided in the embodiment of the present application, by unmanned plane wireless electrical verification is carried
Device, performs near non-contact electricity testing operation for electrical verification object, by induction field information and feeds back to flight controller, sets up
Communication structure between earth station, obtains electrical verification indication signal；Electrical verification simple operation is efficiently, easy to operate, while improving
It is ageing；Importantly, ensure that the reliability of electrical verification indication signal by the communication structure of unmanned plane, it is ensured that grasp in Athens
The reliability of work.On the other hand, scheme is stretched out by the galvanoscopic electric-field sensor of adjustment, can highly avoids complicated electrical verification
Object in environment, it is to avoid unnecessary collision is even got an electric shock risk；Meanwhile, can also make unmanned plane be maintained at comparatively safe area
Domain, and then the electric shock of unmanned plane is avoided, collide security risk.
Further, by arranging shooting unit and cradle head structure, realize the vacant environmental monitoring of unmanned plane, tackle
Conductive environment, line construction, be capable of complete display carries out acquisition of information, it is ensured that the efficiency of electrical verification operation and safety.Pass through
The universe monitoring structure of six direction is arranged and can fully ensure that the visual field of unmanned plane, and then can adapt to more complicated electrical verification
Environment and safety.
Further, by rotating basiss can according to actual needs, adjust probe towards angle adjustment, so as to
The attitude for coordinating unmanned plane is adjusted, and to obtain position the safest, obtains more accurate measurement result；Accordingly,
Scalable shaft also improves to a certain extent adaptability of the unmanned plane to electrical verification environment.Water is controlled respectively by electric machine controller
Square to the motor with vertical direction, and it is unified in electrical verification controller, monitoring camera can be coordinated by earth station, holds
Row remote control, further improves the safety of whole machine.
It should be noted last that, above specific embodiment only to illustrate technical scheme and unrestricted,
Although being described in detail to the present invention with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent, without deviating from the spirit and scope of technical solution of the present invention, it all should cover
In the middle of scope of the presently claimed invention.
Claims (10)
1. the wireless electrical verification unmanned plane of a kind of controlled attitude type, it is characterised in that include：Unmanned plane, it is arranged on the unmanned plane
Wireless electroscope and electroscope orientation adjustment structure；
The wireless electroscope includes：Electric-field sensor, electroscope support and the electrical verification controller being provided at its inner portion；It is described
Electroscope support is fixed on the fuselage of the unmanned plane；
The electric-field sensor is fixed in the electroscope orientation adjustment structure, and adjust electric-field sensor stretches out orientation and model
Enclose, coordinate the flight attitude adjustment of the unmanned plane；
The electric-field sensor is connected with the electrical verification controller；The flight controller of the electrical verification controller and the unmanned plane
It is connected, communicates with unmanned aerial vehicle station.
2. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 1, it is characterised in that the electroscope orientation adjustment
Structure includes：
Horizontal rotating chassis, the horizontal rotating chassis are rotatably fixed on the unmanned plane；
Deck is vertically rotated, the vertical rotation deck is rotatably fixed on the horizontal rotating chassis；
The electric-field sensor is buckled in the vertical rotation deck.
3. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 2, it is characterised in that：The horizontal rotating chassis lead to
Cross horizontal drive motor to be movably connected with the fuselage of the unmanned plane；
The vertical rotation deck, is movably connected by vertical motor with the horizontal rotating chassis；
The horizontal drive motor is connected respectively by electric machine controller with the vertical motor with the electrical verification controller.
4. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 3, it is characterised in that：
One inducing probes are set on the electric-field sensor；Propeller scope of the inducing probes beyond the unmanned plane.
5. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 4, it is characterised in that：The shaft of the shank is can
Telescopic rod body.
6. the wireless electrical verification unmanned plane of controlled attitude type as described in any one of Claims 1 to 5, it is characterised in that：The electrical verification
Device support is fixedly linked by the Quick Release connector and the unmanned plane.
7. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 6, it is characterised in that：The electrical verification controller and institute
State UAV Flight Control device to be connected by wire jumper.
8. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 7, it is characterised in that：Arrange on the unmanned plane and take the photograph
As head group, and it is connected with the flight controller.
9. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 8, it is characterised in that：The photographic head group passes through cloud
Platform is fixed on the unmanned plane.
10. the wireless electrical verification unmanned plane of controlled attitude type as claimed in claim 9, it is characterised in that the photographic head group includes：
Top photographic head, lower section photographic head with the fuselage of unmanned plane as basic point, left side photographic head, right side photographic head, front photographic head
And rear photographic head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258534.XA CN106681347A (en) | 2016-12-30 | 2016-12-30 | Gesture controllable wireless charge detecting UAV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258534.XA CN106681347A (en) | 2016-12-30 | 2016-12-30 | Gesture controllable wireless charge detecting UAV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106681347A true CN106681347A (en) | 2017-05-17 |
Family
ID=58873413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201611258534.XA Pending CN106681347A (en) | 2016-12-30 | 2016-12-30 | Gesture controllable wireless charge detecting UAV |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490245A (en) * | 2018-04-11 | 2018-09-04 | 国网河南省电力公司检修公司 | A kind of transmission line of electricity electroscopic device based on UAV flight |
| CN108519507A (en) * | 2018-04-11 | 2018-09-11 | 国网河南省电力公司检修公司 | A dual-frequency dual-channel wireless trigger transmission line electrical inspection device |
| CN108750082A (en) * | 2018-06-22 | 2018-11-06 | 广东电网有限责任公司 | A kind of high-tension apparatus electrical verification unmanned plane |
| CN110187160A (en) * | 2019-06-05 | 2019-08-30 | 国网福建省电力有限公司厦门供电公司 | A kind of 220kV outdoor transformer equipment electroscope based on unmanned air vehicle technique |
| CN110376422A (en) * | 2019-08-30 | 2019-10-25 | 云南电网有限责任公司电力科学研究院 | A kind of electroscopic device and electricity-testing method |
| CN113125841A (en) * | 2021-05-13 | 2021-07-16 | 广东电网有限责任公司 | Detection device |
| CN113619798A (en) * | 2021-07-12 | 2021-11-09 | 国网浙江省电力有限公司金华供电公司 | Carry and test electric installation on unmanned aerial vehicle |
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| CN103344818A (en) * | 2013-06-19 | 2013-10-09 | 国家电网公司 | Non-contact electroscope and electroscopy |
| CN104181377A (en) * | 2014-08-27 | 2014-12-03 | 李明明 | High-voltage ultra-small unmanned electroscope |
| CN204882698U (en) * | 2015-07-31 | 2015-12-16 | 国网山东东明县供电公司 | Unmanned aerial vehicle ware with high pressure overhead line tests electric work ability in high altitude |
| CN105699742A (en) * | 2016-01-25 | 2016-06-22 | 中国电力科学研究院 | +/-800kV DC power transmission line hot-line electrical inspection device |
| US20160214714A1 (en) * | 2015-01-28 | 2016-07-28 | Lockheed Martin Corporation | In-situ power charging |
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| CN103344818A (en) * | 2013-06-19 | 2013-10-09 | 国家电网公司 | Non-contact electroscope and electroscopy |
| CN104181377A (en) * | 2014-08-27 | 2014-12-03 | 李明明 | High-voltage ultra-small unmanned electroscope |
| US20160214714A1 (en) * | 2015-01-28 | 2016-07-28 | Lockheed Martin Corporation | In-situ power charging |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490245A (en) * | 2018-04-11 | 2018-09-04 | 国网河南省电力公司检修公司 | A kind of transmission line of electricity electroscopic device based on UAV flight |
| CN108519507A (en) * | 2018-04-11 | 2018-09-11 | 国网河南省电力公司检修公司 | A dual-frequency dual-channel wireless trigger transmission line electrical inspection device |
| CN108750082A (en) * | 2018-06-22 | 2018-11-06 | 广东电网有限责任公司 | A kind of high-tension apparatus electrical verification unmanned plane |
| CN110187160A (en) * | 2019-06-05 | 2019-08-30 | 国网福建省电力有限公司厦门供电公司 | A kind of 220kV outdoor transformer equipment electroscope based on unmanned air vehicle technique |
| CN110376422A (en) * | 2019-08-30 | 2019-10-25 | 云南电网有限责任公司电力科学研究院 | A kind of electroscopic device and electricity-testing method |
| CN113125841A (en) * | 2021-05-13 | 2021-07-16 | 广东电网有限责任公司 | Detection device |
| CN113125841B (en) * | 2021-05-13 | 2023-10-27 | 广东电网有限责任公司 | Detection device based on non-contact electroscope |
| CN113619798A (en) * | 2021-07-12 | 2021-11-09 | 国网浙江省电力有限公司金华供电公司 | Carry and test electric installation on unmanned aerial vehicle |
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Application publication date: 20170517 |