CN114977006B - Unmanned inspection device and method for high-altitude lines - Google Patents
Unmanned inspection device and method for high-altitude lines Download PDFInfo
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- CN114977006B CN114977006B CN202210778814.2A CN202210778814A CN114977006B CN 114977006 B CN114977006 B CN 114977006B CN 202210778814 A CN202210778814 A CN 202210778814A CN 114977006 B CN114977006 B CN 114977006B
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- power transmission
- transmission line
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention provides an unmanned aerial vehicle inspection device and method for an aerial line, and belongs to the technical field of electric power inspection. The device comprises a mounting seat, detection equipment, four travelling mechanisms and an adjusting mechanism, wherein the detection equipment is arranged on the mounting seat and used for detecting a power transmission line, the four travelling mechanisms are arranged on two sides of the mounting seat in pairs so as to respectively ride on two power transmission lines for travelling, the two travelling mechanisms on each side are arranged at intervals and used for riding on the same power transmission line for travelling, and the adjusting mechanism is arranged on the mounting seat and respectively connected with each travelling mechanism so as to respectively drive the travelling mechanisms to span the obstacle on the power transmission line one by one. The method is applied to the unmanned aerial vehicle inspection device for the high-altitude line. The invention can realize the walking across obstacles on some transmission lines, thereby replacing manpower and unmanned aerial vehicles to a certain extent, carrying out operation and inspection on high-altitude lines, ensuring more stable operation, acquiring more clear images and other information and being beneficial to reducing the risk of high-altitude operation and inspection.
Description
Technical Field
The invention belongs to the technical field of electric power operation and detection, and particularly relates to an unmanned operation and detection device and method for an overhead line.
Background
The operation and inspection is short for operation and maintenance, namely, is responsible for operation and maintenance, inspection and debugging, transformation and substitution and other works of power grid equipment (mainly equipment in a transformer substation and power transmission equipment). Typical working contents include switching off and power transmission, daily inspection of equipment, accident handling, annual inspection of equipment, major modification and the like. The high-altitude line is required to be transported and overhauled, so that a large amount of manpower and material resources are consumed, and the high-altitude line has extremely strong danger.
Therefore, unmanned aerial line operation is always the main research direction in recent years, and the operation of adopting unmanned aerial vehicle to carry out the high-altitude line at present is the direction of mainstream, but unmanned aerial vehicle is mainly used to patrol the work on the one hand, is difficult to carry out more high-altitude operations, and the flight leads to the camera lens stability poor, and some positions are observed unclearly, and on the other hand receives to shelter from, air current unstability and limit in some sight and flies the region, and unmanned aerial vehicle is difficult to use, still needs the manual work to carry out the operation.
Therefore, it is necessary to provide a new unmanned aerial vehicle inspection device for high-altitude lines to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle inspection device and method for an overhead line, which are used for solving the technical problems in the prior art.
The unmanned aerial vehicle inspection device comprises a mounting seat, detection equipment, four travelling mechanisms and an adjusting mechanism, wherein the detection equipment is arranged on the mounting seat and used for detecting a power transmission line, the four travelling mechanisms are arranged on two sides of the mounting seat in pairs so as to respectively ride on two power transmission lines to travel, the two travelling mechanisms on each side are arranged at intervals and used for riding on the same power transmission line to travel, and the adjusting mechanism is arranged on the mounting seat and respectively connected with each travelling mechanism so as to respectively drive the travelling mechanisms one by one to cross the obstacle on the power transmission line.
In one possible implementation mode, the adjusting mechanism comprises a shaft seat, a bidirectional screw rod, an adjusting motor and a sliding seat, wherein the shaft seat is fixedly arranged on one side of the mounting seat, the bidirectional screw rod is rotatably arranged on the shaft seat, the adjusting motor is fixedly arranged on one side of the mounting seat, an output shaft of the adjusting motor is fixedly connected with one end of the bidirectional screw rod, the sliding seat is sleeved on the bidirectional screw rod in a threaded manner, and the sliding seat is respectively arranged in one-to-one correspondence with the travelling mechanism.
In one possible implementation, the bottom of the sliding seat is provided with a guide groove, the rail is slidably mounted in the guide groove, the bottom of the rail is fixedly provided with a connecting plate, and the connecting plate is fixedly connected with the side edge of the mounting seat.
In one possible implementation, the mounting seat is of a cavity structure, a battery pack is arranged in the mounting seat, and the cross sections of the guide groove and the rail are T-shaped.
In one possible implementation, the running mechanism comprises a vertical plate, a bearing seat, a first supporting plate, a driving wheel and a driving motor, wherein the vertical plate is fixedly installed at the top of the sliding seat, the bearing seat is fixedly installed at the top of the vertical plate, the first supporting plate is fixedly installed at the top of the bearing seat, the driving wheel is rotatably installed on the first supporting plate, the driving motor is fixedly installed on one side of the first supporting plate, and an output shaft of the driving motor is fixedly connected with an input end of the driving wheel.
In one possible implementation manner, the second supporting plate is installed on the bearing seat in a sliding penetrating manner, the driven wheel is installed on one side of the second supporting plate in a rotating manner, the driven wheel is located between the bearing seat and the driving wheel, the electric telescopic rod is fixedly installed on one side of the vertical plate, and the output rod of the electric telescopic rod is fixedly connected with the bottom of the second supporting plate.
In one possible implementation, the bearing seat is provided with a mounting opening, and the mounting opening is adapted to the second support plate.
In one possible implementation manner, the root of the riser is provided with a turnover component for turning the outer end of the riser inwards or outwards so as to drive the driving wheel to turn inwards or outwards before crossing the obstacle, separate from the power transmission line and drive the driving wheel to turn outwards or inwards after crossing the obstacle, and buckle the driving wheel on the power transmission line.
In one possible implementation manner, the control module and the remote control module of the unmanned aerial vehicle inspection device for the high-altitude line are respectively and electrically connected with the detection equipment, the four travelling mechanisms and the adjusting mechanism to control the actions of the four travelling mechanisms and the adjusting mechanism and acquire data detected by the detection equipment, and the remote control module and the control module are in communication connection through the data transmission module to perform data interaction.
In one possible implementation, the detection device comprises a video monitoring device.
Compared with the prior art, the unmanned aerial vehicle high-altitude line inspection device has the beneficial effects that through the cooperation of the mounting base, the detection equipment, the four traveling mechanisms and the adjusting mechanism, the unmanned aerial vehicle high-altitude line inspection device can travel across obstacles on some power transmission lines, so that manpower and unmanned aerial vehicles are replaced to a certain extent, the unmanned aerial vehicle high-altitude line inspection device can inspect areas where the unmanned aerial vehicles cannot inspect, the operation is more stable, information such as clearer images can be acquired, and the risk of high-altitude inspection is reduced.
In order to achieve the purpose, the invention adopts the technical scheme that the unmanned aerial vehicle inspection method for the high-altitude line is provided, and the unmanned aerial vehicle inspection device for the high-altitude line comprises the following steps:
selecting a power transmission line section which can be checked by the unmanned high-altitude line checking device;
At the starting point of the power transmission line section, four travelling mechanisms are respectively lapped on the corresponding power transmission lines, so that the mounting seat and the detection equipment are suspended;
The driving travelling mechanism drives the mounting seat and the detection equipment to travel on the transmission line;
when encountering obstacles, the adjusting mechanism drives the travelling mechanism to span the obstacles on the transmission line one by one;
And after the unmanned aerial vehicle inspection device of the high-altitude line advances to the end point of the power transmission line section, the unmanned aerial vehicle inspection device of the high-altitude line is taken down from the power transmission line.
Compared with the prior art, the unmanned aerial vehicle inspection method for the high-altitude lines has the advantages that the unmanned aerial vehicle inspection device for the high-altitude lines can walk across obstacles on some power transmission lines, so that manpower and unmanned aerial vehicles are replaced to a certain extent, the high-altitude lines are inspected, areas where the unmanned aerial vehicles cannot inspect can be inspected, the operation is more stable, information such as clearer images can be acquired, and the risk of the high-altitude inspection is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present 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 schematic diagram of a front view of an unmanned aerial vehicle device for high-altitude lines according to a preferred embodiment of the present invention;
FIG. 2 is a schematic side cross-sectional view of the portion A-A shown in FIG. 1;
FIG. 3 is an enlarged schematic view of the portion B shown in FIG. 2;
Fig. 4 is an enlarged schematic view of the portion C shown in fig. 2.
Reference numerals in the drawings:
1. the device comprises a mounting seat, a detection device, a shaft seat, a bidirectional screw, a regulating motor and a motor, wherein the mounting seat is provided with the detection device;
6. A slide; 7, a guide groove, 8, a track, 9, a connecting plate, 10, a vertical plate, 11 and a bearing seat;
12. a first support plate; 13, a driving wheel, 14, a driving motor, 15, a second supporting plate;
16. driven wheel, 17, electric telescopic rod.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. 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.
It should be further noted that the drawings and embodiments of the present invention mainly describe the concept of the present invention, and on the basis of the concept, some specific forms and arrangements of connection relations, position relations, power units, power supply systems, hydraulic systems, control systems, etc. may not be completely described, but those skilled in the art may implement the specific forms and arrangements described above in a well-known manner on the premise of understanding the concept of the present invention.
When an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the same sense as the orientation or positional relationship shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" means two or more, and the meaning of "a number" means one or more, unless specifically defined otherwise.
The unmanned aerial vehicle inspection device and method for the high-altitude line provided by the invention are described.
Referring to fig. 1 and 2 together, the unmanned aerial vehicle for high-altitude lines according to the first embodiment of the present invention includes a mounting base 1, a detecting device 2, four travelling mechanisms and an adjusting mechanism, wherein the detecting device 2 is disposed on the mounting base 1 and is used for detecting a power transmission line, the four travelling mechanisms are disposed in pairs on two sides of the mounting base 1 so as to respectively ride on two power transmission lines for travelling, the two travelling mechanisms on each side are disposed at intervals and are used for riding on the same power transmission line for travelling, and the adjusting mechanism is disposed on the mounting base 1 and is respectively connected with each travelling mechanism so as to respectively drive the travelling mechanisms one by one to cross the obstacle on the power transmission line.
When the device is used, the four travelling mechanisms are respectively put on the corresponding power transmission lines to suspend the mounting seat 1 and the detection equipment 2, the travelling mechanisms are driven to drive the mounting seat 1 and the detection equipment 2 to travel on the power transmission lines, and when an obstacle is encountered, the travelling mechanisms are driven to move outwards or inwards one by the adjusting mechanism to cross the obstacle on the power transmission lines.
Compared with the prior art, the unmanned aerial vehicle inspection device for the high-altitude lines provided by the embodiment can realize the obstacle-crossing walking on some power transmission lines through the cooperation of the mounting base 1, the detection equipment 2, the four travelling mechanisms and the adjusting mechanism, so that manpower and the unmanned aerial vehicle are replaced to a certain extent, the high-altitude lines are inspected, the areas where the unmanned aerial vehicle cannot inspect can be inspected, the operation is more stable, information such as a clearer image can be acquired, and the risk of the high-altitude inspection is reduced.
Referring to fig. 1 to 4, an embodiment of the present invention based on the first embodiment is as follows:
The adjusting mechanism comprises a shaft seat 3, a bidirectional screw 4, an adjusting motor 5 and a sliding seat 6, wherein the shaft seat 3 is fixedly arranged on one side of the installation seat 1, the bidirectional screw 4 is rotatably arranged on the shaft seat 3, the adjusting motor 5 is fixedly arranged on one side of the installation seat 1, an output shaft of the adjusting motor 5 is fixedly connected with one end of the bidirectional screw 4, the sliding seat 6 is sleeved on the bidirectional screw 4 in a threaded manner, and the sliding seat 6 is respectively arranged in one-to-one correspondence with the travelling mechanism.
The detection device 2 on the mounting seat 1 can operate the detection circuit when the device operates, replaces manpower to a certain extent, and has higher use safety.
Referring to fig. 1 to 3, an embodiment of the present invention based on the first embodiment is as follows:
the bottom of the sliding seat 6 is provided with a guide groove 7, a rail 8 is slidably arranged in the guide groove 7, a connecting plate 9 is fixedly arranged at the bottom of the rail 8, and the connecting plate 9 is fixedly connected with the side edge of the mounting seat 1.
The distance between the sliding seat 6 can be regulated by the bidirectional screw 4 to make the device smoothly pass through the obstacle.
Referring to fig. 1 and fig. 3, an embodiment of the present invention based on the first embodiment is as follows:
the mount pad 1 is cavity structure, and inside is equipped with the group battery, and guide way 7 and track 8's cross section all is T shape.
The position of the driven wheel 16 is conveniently adjusted through the second slidable support plate 15, the driven wheel 16 is buckled and separated, and the position of the second support plate 15 and the driven wheel 16 can be electrically adjusted through the electric telescopic rod 17.
The battery pack may be a conventional storage battery such as a lithium battery, and may be a battery pack device capable of acquiring and storing electric energy on a power transmission line, such as a super capacitor.
Referring to fig. 1 to 4, an embodiment of the present invention based on the first embodiment is as follows:
The running gear includes riser 10, bears seat 11, first backup pad 12, action wheel 13 and driving motor 14, riser 10 fixed mounting is at the top of slide 6, bears seat 11 fixed mounting at the top of riser 10, and first backup pad 12 fixed mounting is at the top of bearing seat 11, and action wheel 13 rotation is installed on first backup pad 12, and driving motor 14 fixed mounting is in one side of first backup pad 12, and driving motor 14's output shaft and action wheel 13's input fixed connection.
The stability of the sliding seat 6 during sliding is improved by matching the guide groove 7 with the rail 8, and the supporting effect is ensured
Referring to fig. 1 to 3, an embodiment of the present invention based on the first embodiment is as follows:
The bearing seat 11 is provided with a second supporting plate 15 in a sliding penetrating mode, one side of the second supporting plate 15 is provided with a driven wheel 16 in a rotating mode, the driven wheel 16 is located between the bearing seat 11 and the driving wheel 13, one side of the vertical plate 10 is fixedly provided with an electric telescopic rod 17, and an output rod of the electric telescopic rod 17 is fixedly connected with the bottom of the second supporting plate 15.
The driving wheel 13 is driven to rotate by the driving motor 14 of the travelling mechanism, so that the device moves.
Referring to fig. 1, an embodiment of the present invention provided on the basis of the first embodiment is as follows:
the bearing seat 11 is provided with a mounting opening which is matched with the second supporting plate 15.
Thus, power can be supplied through the battery pack, and the mounting seat 1 with the cavity structure is light.
Further, in order to enhance applicability, the present invention provides a specific embodiment based on the first embodiment as follows:
the root of the vertical plate 10 is provided with a turnover component for inwards or outwards turning the outer end of the vertical plate 10 so as to drive the driving wheel 13 to inwards or outwards turn before crossing an obstacle, separate from a power transmission line, and drive the driving wheel 13 to outwards or inwards turn after crossing the obstacle, and buckle the driving wheel 13 on the power transmission line.
Further, for convenience of control, a specific embodiment of the present invention provided on the basis of the first embodiment is as follows:
The control module is respectively and electrically connected with the detection equipment 2, the four travelling mechanisms and the adjusting mechanism to control the actions of the four travelling mechanisms and the adjusting mechanism and acquire data detected by the detection equipment 2, and the remote control module is in communication connection with the control module through the data transmission module to perform data interaction.
Meanwhile, in order to facilitate data communication, a signal relay station can be arranged between the remote control module and the control module to relay and amplify signals so as to reduce the power consumption of the device and improve the safety.
Further, in order to avoid electric shock or connection, a specific embodiment of the present invention provided on the basis of the first embodiment is as follows:
the components in the unmanned aerial vehicle inspection device of the high-altitude line are made of insulating materials as much as possible, and meanwhile, insulating protection equipment can be additionally arranged.
Further, in order to clearly obtain the data, a specific embodiment of the present invention provided on the basis of the first embodiment is as follows:
The detection device 2 comprises a video monitoring device and other device devices capable of carrying out operation detection on the power transmission line, wherein the device can comprise a data acquisition device, such as a sensor for acquiring parameters or signals of electricity, magnetism, heat and the like, and can also comprise a fault removal device, such as a mechanical arm and the like.
Specifically, the working principle of the unmanned aerial vehicle inspection device for the high-altitude line provided by the invention is as follows:
When the device is used, the detection equipment 2 used for operation and detection is installed on the installation seat 1, then a person installs the equipment, and when the equipment is installed, the insulation operation in the power system is firstly carried out on the installation seat 1, so that the device is not damaged, and the smooth operation of the device is ensured;
Then, starting an electric telescopic rod 17, retracting an output rod of the electric telescopic rod 17 to drive a second supporting plate 15 and a driven wheel 16 to descend, at the moment, buckling a driving wheel 13 above a cable, resetting the driven wheel 16 to enable the driven wheel 16 to be buckled below the cable, walking after a plurality of travelling mechanisms are arranged, starting a driving motor 14 for running detection, and driving an output shaft of the driving motor 14 to drive the driving wheel 13 to rotate when the travelling mechanism is in walking, so that the device moves;
When the cable is in a protruding obstacle, the electric telescopic rod 17 at the corresponding side can be started to enable the driven wheel 16 close to the protruding object to descend, then the adjusting motor 5 is started, the output shaft of the adjusting motor 5 drives the bidirectional screw 4 to rotate, the sliding seat 6 slides along the track 8 and the connecting plate 9, the driving wheel 13 at the protruding object passes through the obstacle, then the rear wheel is passed through in the same mode, and then all the components are reset to run smoothly.
Compared with the prior art, the unmanned aerial vehicle inspection device for the high-altitude line has the following beneficial effects:
The invention provides an unmanned high-altitude line inspection device, which can carry out operation detection lines when the device operates through detection equipment 2 on a mounting seat 1, replaces manual work to a certain extent, has higher use safety, can ensure passing when passing obstacles through an adjusting mechanism, drives and adjusts the distance between sliding seats 6 through a bidirectional screw 4, enables the device to smoothly pass through the device, improves the stability of the sliding seats 6 during sliding through a guide groove 7 and a track 8, ensures the supporting effect, drives a driving wheel 13 to rotate through a driving motor 14 of a travelling mechanism, enables the device to move, is convenient for adjusting the position of a driven wheel 16 through a slidable second supporting plate 15, enables the driven wheel 16 to be buckled and separated, and can electrically adjust the positions of the second supporting plate 15 and the driven wheel 16, power is supplied through a battery pack, and the mounting seat 1 with a cavity structure is light.
The device structure and the drawings of the present invention mainly describe the principle of the present invention, and in terms of the technology of the design principle, the arrangement of the power mechanism, the power supply system, the control system, etc. of the device is not completely described, but the specific details of the power mechanism, the power supply system, and the control system thereof can be clearly known on the premise that those skilled in the art understand the principle of the present invention.
The unmanned aerial vehicle inspection method for the high-altitude line provided by the first embodiment of the invention, which is applied to the unmanned aerial vehicle inspection device for the high-altitude line, comprises the following steps:
selecting a power transmission line section which can be checked by the unmanned high-altitude line checking device;
at the starting point of the power transmission line section, four travelling mechanisms are respectively lapped on the corresponding power transmission lines, so that the mounting seat 1 and the detection equipment 2 are suspended;
The driving travelling mechanism drives the mounting seat 1 and the detection equipment 2 to travel on the transmission line;
when encountering obstacles, the adjusting mechanism drives the travelling mechanism to span the obstacles on the transmission line one by one;
And after the unmanned aerial vehicle inspection device of the high-altitude line advances to the end point of the power transmission line section, the unmanned aerial vehicle inspection device of the high-altitude line is taken down from the power transmission line.
Compared with the prior art, the unmanned aerial vehicle inspection method for the high-altitude lines can realize obstacle-crossing walking on some power transmission lines, so that manpower and unmanned aerial vehicles are replaced to a certain extent, the unmanned aerial vehicles can be inspected, areas where the unmanned aerial vehicles cannot be inspected can be inspected, the operation is more stable, information such as clearer images can be acquired, and the risk of the high-altitude inspection is reduced.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (3)
1. An unmanned aerial vehicle device of examining of high altitude construction, characterized in that includes:
a mounting base (1);
The detection equipment (2) is arranged on the mounting seat (1) and is used for detecting the power transmission line;
four travelling mechanisms are arranged on two sides of the mounting seat (1) in pairs so as to respectively ride on two power transmission lines, and the two travelling mechanisms on each side are arranged at intervals and are used for riding on the same power transmission line to travel;
The adjusting mechanisms are arranged on the mounting seats (1) and are respectively connected with each travelling mechanism so as to respectively drive the travelling mechanisms one by one to cross the obstacle on the transmission line;
The adjusting mechanism comprises a shaft seat (3), a bidirectional screw rod (4), an adjusting motor (5) and a sliding seat (6), wherein the shaft seat (3) is fixedly arranged on one side of the mounting seat (1), the bidirectional screw rod (4) is rotatably arranged on the shaft seat (3), the adjusting motor (5) is fixedly arranged on one side of the mounting seat (1), an output shaft of the adjusting motor (5) is fixedly connected with one end of the bidirectional screw rod (4), the sliding seat (6) is sleeved on the bidirectional screw rod (4) in a threaded manner, and the sliding seat (6) is respectively arranged in one-to-one correspondence with the travelling mechanism;
A guide groove (7) is formed in the bottom of the sliding seat (6), a track (8) is slidably installed in the guide groove (7), a connecting plate (9) is fixedly installed at the bottom of the track (8), and the connecting plate (9) is fixedly connected with the side edge of the mounting seat (1);
the mounting seat (1) is of a cavity structure, a battery pack is arranged in the mounting seat, and the cross sections of the guide groove (7) and the rail (8) are T-shaped;
The walking mechanism comprises a vertical plate (10), a bearing seat (11), a first supporting plate (12), a driving wheel (13) and a driving motor (14), wherein the vertical plate (10) is fixedly arranged at the top of the sliding seat (6), the bearing seat (11) is fixedly arranged at the top of the vertical plate (10), the first supporting plate (12) is fixedly arranged at the top of the bearing seat (11), the driving wheel (13) is rotatably arranged on the first supporting plate (12), the driving motor (14) is fixedly arranged at one side of the first supporting plate (12), and an output shaft of the driving motor (14) is fixedly connected with the input end of the driving wheel (13);
A second supporting plate (15) is installed on the bearing seat (11) in a sliding penetrating mode, a driven wheel (16) is installed on one side of the second supporting plate (15) in a rotating mode, the driven wheel (16) is located between the bearing seat (11) and the driving wheel (13), an electric telescopic rod (17) is fixedly installed on one side of the vertical plate (10), and an output rod of the electric telescopic rod (17) is fixedly connected with the bottom of the second supporting plate (15);
the bearing seat (11) is provided with a mounting opening which is matched with the second supporting plate (15);
The root of the vertical plate (10) is provided with a turnover assembly for turning the outer end of the vertical plate (10) inwards or outwards so as to drive the driving wheel (13) to turn inwards or outwards before crossing an obstacle, separate from a power transmission line and drive the driving wheel (13) to turn outwards or inwards after crossing the obstacle, and buckle the driving wheel (13) on the power transmission line.
2. The unmanned aerial vehicle inspection device of claim 1, wherein the unmanned aerial vehicle inspection device is characterized by comprising a control module and a remote control module, wherein the control module is respectively and electrically connected with the detection equipment (2), the four travelling mechanisms and the adjusting mechanism to control actions of the four travelling mechanisms and the adjusting mechanism and acquire data detected by the detection equipment (2), the remote control module is in communication connection with the control module through a data transmission module to perform data interaction, and the detection equipment (2) comprises a video monitoring device.
3. An unmanned aerial vehicle inspection method for an aerial vehicle, wherein the unmanned aerial vehicle inspection device for an aerial vehicle according to any one of claims 1 to 2 is applied, comprising the steps of:
selecting a power transmission line section which can be checked by the unmanned high-altitude line checking device;
At the starting point of the power transmission line section, four travelling mechanisms are respectively put on the corresponding power transmission lines, so that the mounting seat (1) and the detection equipment (2) are suspended;
The driving travelling mechanism drives the mounting seat (1) and the detection equipment (2) to travel on the transmission line;
when encountering an obstacle, the adjusting mechanism drives the travelling mechanism to span the obstacle on the transmission line one by one;
And after the unmanned aerial vehicle inspection device of the high-altitude line advances to the end point of the power transmission line section, the unmanned aerial vehicle inspection device of the high-altitude line is taken down from the power transmission line.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210778814.2A CN114977006B (en) | 2022-06-30 | 2022-06-30 | Unmanned inspection device and method for high-altitude lines |
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| CN202210778814.2A CN114977006B (en) | 2022-06-30 | 2022-06-30 | Unmanned inspection device and method for high-altitude lines |
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| CN114977006A CN114977006A (en) | 2022-08-30 |
| CN114977006B true CN114977006B (en) | 2025-04-08 |
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| CN115432178A (en) * | 2022-09-26 | 2022-12-06 | 杭州申昊科技股份有限公司 | Power transmission line detection device online and tower crossing method and unmanned aerial vehicle system |
| CN118336587B (en) * | 2024-06-14 | 2024-08-13 | 国网山东省电力公司单县供电公司 | A foreign body removal device for power distribution line operation inspection |
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| CN102074915A (en) * | 2010-12-09 | 2011-05-25 | 山东电力研究院 | Split line moving platform |
| CN113285391A (en) * | 2021-07-01 | 2021-08-20 | 重庆南电科技有限公司 | Transmission line inspection robot device |
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| CN102074915A (en) * | 2010-12-09 | 2011-05-25 | 山东电力研究院 | Split line moving platform |
| CN113285391A (en) * | 2021-07-01 | 2021-08-20 | 重庆南电科技有限公司 | Transmission line inspection robot device |
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