A power monitoring drone based on real-time imaging of laser radar

Abstract

The invention discloses an electric power monitoring drone based on laser radar real-time imaging, and relates to the technical field of laser radar drone mapping. The bottom two sides of the machine board are connected with tripods, the outer side of the machine board is circumferentially equidistantly connected with four machine rods, the outer top ends of the four machine rods are connected with propellers through motors, the top of the machine board is equipped with a base, the outer side of the top of the base is connected with an organic box, the top of the base is equipped with a rack rod, the middle of the rack rod is equipped with a sliding sleeve, and the inner side of the sliding sleeve is embedded and movably connected with a sliding body; by arranging the cooperation among the connecting rod, the sliding sleeve and the sliding body, the influence of the shaking of the drone caused by airflow in different directions on the laser radar during mapping is reduced, and the stability is improved; by arranging the cooperation among the connecting rod, the rotating assembly and the compensating assembly, when the drone encounters a large airflow and deflects, the stability during mapping is further improved by compensating the position of the laser radar.

Description

Technical Field

[0001] The present invention relates to the field of laser radar unmanned aerial vehicle surveying and mapping technology, and in particular to an electric power monitoring unmanned aerial vehicle based on laser radar real-time imaging. Background Art

[0002] The power monitoring drone with lidar real-time imaging is a combination of lidar real-time imaging technology and power monitoring drones. This type of drone combines advanced lidar technology, drone platform, data processing and analysis, real-time transmission and remote control and other technologies. This technology not only improves the efficiency and accuracy of power inspections, but also reduces labor costs and safety risks. At the same time, it also provides an efficient and accurate power line inspection, power line environmental terrain mapping and monitoring solution. This technology is particularly suitable for inspection and mapping of power facilities in difficult-to-reach or dangerous areas.

[0003] However, the existing power monitoring drones with real-time laser radar imaging need to be used without rain, snow, strong winds and fog because weather conditions have a great impact on drones. In actual use, even if the weather is good, the terrain of the scene where the drone is used and some uncontrollable airflows will cause the drone to have small circumferential shaking during radar mapping. These shakings affect the accuracy of the three-dimensional point cloud data during laser radar mapping. When the current equipment is in use, the drone platform's own balance system cooperates with a single laser radar anti-shake gimbal to perform anti-shake function, and most of these anti-shake gimbals are connected to the main body of the fuselage. When encountering shaking caused by airflow of uncertain direction, the drone balance The adjustment delay of the system causes the gimbal anti-shake function to be unable to adjust in time, and the laser radar is prone to shaking and swinging. On the other hand, when the drone encounters strong winds in the airflow, the drone and laser radar surveying in the hovering mode are prone to position deviation, which further affects the accuracy and resolution of the three-dimensional point cloud data during laser radar surveying. In the use of existing equipment, because the airflow causes uncertainty in the direction of the drone's deviation, most of the equipment solves the problem by restoring the position of the drone in the hovering mode and rotating the anti-shake gimbal. This adjustment has a certain lag, and it is not convenient to stabilize the position of the laser radar itself through position compensation adjustment. This requires multiple adjustments to the drone and laser radar during surveying to complete the process. Summary of the invention

[0004] The purpose of the present invention is to provide an electric power monitoring UAV based on real-time imaging of laser radar, so as to solve the problem that the existing equipment proposed in the above background technology is not convenient to deal with the circumferential jitter caused by airflow interference in different directions in a timely manner, and it is not convenient to stabilize the mapping position through position compensation adjustment of the laser radar itself according to the offset direction. The technical solution of the present invention aims at the technical problem that the existing technical solution is too single, and provides a solution that is significantly different from the existing technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an electric power monitoring drone based on laser radar real-time imaging, comprising a machine board, tripods are connected to the two sides of the bottom of the machine board, four machine rods are equidistantly connected to the outer side of the machine board in the circumferential direction, and the outer tops of the four machine rods are connected to propellers through motors, a base is installed on the top of the machine board, an organic box is connected to the outer side of the top of the base, a rack is installed on the top of the base, a sliding sleeve is installed in the middle of the rack, a sliding body is embedded and movably connected to the inner side of the sliding sleeve, and the sliding body is installed on the outer side of the connecting rod, and the connecting rod is rotatably connected to the laser radar body through a compensation component;

[0006] A rotating assembly, the rotating assembly is arranged between the frame rod and the connecting rod, and the rotating assembly is used for rotating the frame rod;

[0007] A compensation component is arranged between the connecting rod and the laser radar body, and the compensation component is used for adjusting the position of the laser radar body.

[0008] Preferably, the inner hole groove of the sliding sleeve is designed as a spherical structure, and the spherical hole groove of the sliding sleeve is used for the circumferential movement of the sliding body.

[0009] Preferably, the rotating assembly includes a block, which is mounted on the top of the connecting rod, and a pipe sleeve is provided on the block and the sliding sleeve on the outside of the connecting rod, and circular plates are connected to the outside of the upper and lower ends of the pipe sleeve through bearings, a wind plate is installed on the outside of the middle section of the pipe sleeve, and displacement sensors are connected to both sides of the wind plate, a wind pressure sensor is installed on the top of the block, and an electric push rod is connected to the bottom of the circular plate at the lower end, and the electric push rod is installed on the upper end of the frame rod.

[0010] Preferably, the hole on the top of the sleeve is designed as a triangular structure, the triangular hole on the top of the sleeve is used for concave-convex cooperation with the clamping block, and the clamping block is designed as a triangular cone structure.

[0011] Preferably, the compensation component includes a slide, which is installed at the bottom of the connecting rod, and a slide groove is opened at the lower end of the slide, and a sliding gear block is set in the slide groove for limiting sliding, and a gear is meshed on one side of the upper end of the sliding gear block, and the gear is installed on a convex block on one side of the slide through a motor, and a gear ring is meshed on the other side of the upper end of the sliding gear block, and the gear ring is rotatably installed on the inner side convex strip of the slide, and an adjusting rod is connected to the convex column in the middle of the gear ring, and a connecting seat is installed at the lower end of the sliding gear block, and the bottom of the connecting seat is rotatably connected to the laser radar body.

[0012] Preferably, when the sliding gear block slides to the limit position in the sliding groove, the gear ring rotates 90 degrees, and the moving direction of the sliding gear block is opposite to the rotation direction of the gear ring.

[0013] Preferably, a counterweight is designed at one end of the adjusting rod, and the counterweight of the adjusting rod is designed in proportion to the weight of the laser radar body.

[0014] Preferably, the lever principle is used between the adjustment rod, the sliding gear block and the laser radar body to maintain the left-right balance of the slide.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention is provided with a connecting rod, a sliding sleeve and a sliding body. When the drone performs laser radar mapping in a hovering mode, it encounters airflow causing the drone to sway circumferentially. The center of gravity of the connecting rod is positioned below the base through a compensation component and a laser radar body. The base is connected to the sliding body through an embedded movable connection of the sliding sleeve. When the drone body sways circumferentially as a whole, the sliding sleeve moves circumferentially outside the sliding body without affecting the laser radar body below the connecting rod. This avoids the shaking caused by the delay in adjusting the drone balance system and the laser radar anti-shake gimbal due to the uncertainty of the direction of the airflow when the existing equipment is in use, thereby improving the position stability of the laser radar body during mapping.

[0017] By setting the connecting rod, the rotating assembly and the compensation assembly, when the UAV performs laser radar mapping in the hovering mode, the system will simultaneously turn on the position compensation mode, the electric push rod will turn on to push the pipe sleeve and the circular plate out of the machine box, when the UAV body is offset by the wind force of a large airflow, the wind plate cooperates with the pipe sleeve and the card block to drive the connecting rod, the displacement sensor and the slide to adjust the position, and turn on the gear motor. At the same time, in conjunction with the wind pressure data detected by the wind pressure sensor, the system adjusts the gear motor speed and wind pressure accordingly, so that the gear motor adjusts the corresponding position of the sliding gear block in the slide groove, and at the same time, the corresponding position of the gear ring and the adjusting rod is rotated to balance the weight on both sides of the slide, keep the center of the connecting rod and the slide stable, and reduce the influence on the mapping position of the laser radar body. When the UAV is offset through the cooperation of the above parts, the position of the laser radar body is compensated to achieve the effect of stabilizing the mapping position of the laser radar body, further improving the stability of the laser radar body during mapping, so that the laser radar body can generate high-resolution and accurate three-dimensional point cloud data during mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view structural schematic diagram of the present invention;

[0019] Figure 2 It is a schematic diagram of the top view structure of the present invention;

[0020] Figure 3 It is a schematic diagram of the internal structure of the base and the box of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the sliding sleeve, the sliding body and the connecting rod of the present invention;

[0022] Figure 5 This is a schematic diagram of the disassembled structure of the sliding sleeve and the sliding body of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the compensation component of the present invention;

[0024] Figure 7 This is a schematic diagram of the disassembled structure of the sliding sleeve and the sliding body of the present invention;

[0025] Figure 8 This is a schematic diagram of the split structure of the rotating assembly of the present invention;

[0026] Fig. 9 It is a schematic diagram of the structure of the rotating assembly of the present invention.

[0027] In the figure: 1. machine board; 2. tripod; 3. machine rod; 4. propeller; 5. base; 6. machine box; 7. frame rod; 8. sliding sleeve; 9. sliding body; 10. connecting rod; 11. rotating assembly; 111. pipe sleeve; 112. circular plate; 113. wind plate; 114. displacement sensor; 115. block; 116. wind pressure sensor; 117. electric push rod; 12. compensation assembly; 121. slide; 122. slide groove; 123. sliding gear block; 124. gear; 125. gear ring; 126. adjustment rod; 127. connecting seat; 13. laser radar body. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example 1: Please refer to Figures 1 to 5 The present invention provides a technical solution: an electric power monitoring drone based on laser radar real-time imaging, wherein tripods 2 are connected to both sides of the bottom of a machine board 1, four machine rods 3 are equidistantly connected to the outer side of the machine board 1, and propellers 4 are connected to the outer tops of the four machine rods 3 through motors, a base 5 is installed on the top of the machine board 1, an organic box 6 is connected to the outer side of the top of the base 5, a rack 7 is installed on the top of the base 5, a sleeve 8 is installed at the middle of the rack 7, a sliding body 9 is movably connected to the inner side of the sleeve 8, and the sliding body 9 is installed on the outer side of a connecting rod 10, and the inner hole groove of the sleeve 8 is designed as a spherical structure, and the spherical hole groove of the sleeve 8 is used for the circumferential movement of the sliding body 9, and the connecting rod 10 is rotatably connected to a laser radar body 13 through a compensation component 12; a rotating component 11 is arranged between the rack 7 and the connecting rod 10, and the rotating component 11 is used for the rotation of the rack 7; the compensation component 12 is arranged between the connecting rod 10 and the laser radar body 13, and the compensation component 12 is used for adjusting the position of the laser radar body 13;

[0030] During use, when the UAV is performing laser radar mapping in the hovering mode, it encounters airflow causing the UAV to shake circumferentially. At this time, the internal connecting rod 10 of the base 5 and the laser radar body 13 in the hovering mode have their center of gravity below the sliding body 9, and the sliding body 9 always remains vertical in the sleeve 8. When encountering a small circumferential shaking caused by a small airflow, the circumferential movement between the sleeve 8 and the sliding body 9 reduces the impact on the laser radar body 13 during mapping.

[0031] Example 2: Based on Example 1, please refer to Figures 1 to 9, tripods 2 are connected to both sides of the bottom of the machine board 1, four machine rods 3 are equidistantly connected to the outer side of the machine board 1, and the outer tops of the four machine rods 3 are connected to propellers 4 through motors. A base 5 is installed on the top of the machine board 1, and an organic box 6 is connected to the outer side of the top of the base 5. A rack 7 is installed on the top of the base 5, and a sliding sleeve 8 is installed in the middle of the rack 7. A sliding body 9 is embedded and movably connected to the inner side of the sliding sleeve 8. The sliding body 9 is installed on the outer side of the connecting rod 10. The inner hole groove of the sliding sleeve 8 is designed as a spherical structure. The spherical hole groove of the sliding sleeve 8 is used for the circumferential movement of the sliding body 9. The connecting rod 10 is rotatably connected to the laser radar body 13 through the compensation component 12;

[0032] The rotating assembly 11 is arranged between the frame rod 7 and the connecting rod 10, and the rotating assembly 11 includes a clamping block 115, and the clamping block 115 is installed on the top of the connecting rod 10. The clamping block 115 and the outer sliding sleeve of the connecting rod 10 are provided with a pipe sleeve 111, and the hole on the top of the pipe sleeve 111 is designed as a triangular structure. The triangular hole on the top of the pipe sleeve 111 is used to match the clamping block 115 concavely and convexly. The clamping block 115 is designed as a triangular cone structure. The outer sides of the upper and lower ends of the pipe sleeve 111 are connected with circular plates 112 through bearings, and the outer side of the middle section of the pipe sleeve 111 is installed with a wind plate 113. Displacement sensors 114 are connected to both sides of the wind plate 113. A wind pressure sensor 116 is installed on the top of the clamping block 115. The bottom of the lower circular plate 112 is connected to an electric push rod 117, and the electric push rod 117 is installed on the upper end of the frame rod 7. The rotating assembly 11 is used for the rotation of the frame rod 7;

[0033] The compensation component 12 is arranged between the connecting rod 10 and the laser radar body 13. The compensation component 12 includes a slide 121, which is installed at the bottom of the connecting rod 10. A slide groove 122 is provided at the lower end of the slide 121. A sliding gear block 123 is provided in the slide groove 122 for limiting sliding. A gear 124 is meshed on one side of the upper end of the sliding gear block 123. The gear 124 is installed at a convex block on one side of the slide 121 through a motor. A gear ring 125 is meshed on the other side of the upper end of the sliding gear block 123. The gear ring 125 is rotatably installed on the inner convex strip of the slide 121. When the sliding gear block 123 slides to the limit position in the slide groove 122, the gear ring 125 rotates ninety degrees, the movement direction of the sliding gear block 123 is opposite to the rotation direction of the gear ring 125, an adjusting rod 126 is connected to the convex column in the middle of the gear ring 125, and a counterweight block is designed at one end of the adjusting rod 126. The weight of the adjusting rod 126 is proportional to the weight of the laser radar body 13. The lever principle is used between the adjusting rod 126, the sliding gear block 123 and the laser radar body 13 to maintain the left and right balance of the slide 121. A connecting seat 127 is installed at the lower end of the sliding gear block 123, and the bottom of the connecting seat 127 is rotatably connected to the laser radar body 13. The compensation component 12 is used to adjust the position of the laser radar body 13;

[0034] During use, when the drone performs laser radar mapping in the hovering mode, the system will simultaneously turn on the position compensation mode, and the electric push rod 117 will turn on to push the sleeve 111 and the circular plate 112 out of the machine box 6. When the wind force of a large airflow affects the displacement of the drone body, the wind plate 113 cooperates with the sleeve 111 and the block 115 to drive the connecting rod 10, the displacement sensor 114 and the slide 121 to adjust the position, and turn on the gear 124 motor. At the same time, in conjunction with the wind pressure data detected by the wind pressure sensor 116, the system adjusts the gear 124 motor speed and wind pressure accordingly, so that the gear 124 motor adjusts the corresponding position of the sliding gear block 123 in the slide groove 122. At the same time, the corresponding position of the gear ring 125 and the adjusting rod 126 is rotated to balance the weight on both sides of the slide 121, keep the center of the connecting rod 10 and the slide 121 stable, reduce the position impact on the laser radar body 13 during mapping, and complete the compensation of the laser radar body 13 position when the drone is offset through the cooperation of the above parts.

[0035] Working principle: When using the power monitoring drone based on laser radar real-time imaging, the operator first controls the drone to fly to the surveying point through the remote control handle, and then turns on the hovering surveying mode through the system. The system synchronously turns on the laser radar body 13 and surveys downward. At this time, the connecting rod 10 and the laser radar body 13 inside the base 5 in the hovering mode have their center of gravity below the sliding body 9, and the sliding body 9 always maintains a vertical state in the sliding sleeve 8. When the drone is affected by a small airflow and causes a small circumferential shake, the circumferential movement between the sliding sleeve 8 and the sliding body 9 does not affect the laser radar body 13 below the connecting rod 10;

[0036] On the basis of the above, while the laser radar body 13 is turned on for mapping, the system simultaneously turns on the position compensation mode, so that the system controls the electric push rod 117 to push the circular plate 112 and the pipe sleeve 111 on the connecting rod 10 to move out of the top of the machine box 6, and make the top hole of the pipe sleeve 111 cooperate with the block 115, and then turn on the wind pressure sensor 116 and the displacement sensor 114. When the drone is affected by a large airflow in the hovering mode, the position is slightly offset. At this time, the wind plate 113 is affected by the wind force and rotates to the wind direction and stops, while driving the pipe sleeve 111, the block 115, and the connecting rod 10. The sliding body 9 rotates synchronously in the sliding sleeve 8, and the position of the sliding frame 121 is adjusted so that the direction of the sliding slot 122 on the sliding frame 121 corresponds to the wind blowing direction, and then cooperates with the data signal sent when the displacement sensor 114 on the wind plate 113 stops moving. After receiving the data signal through the system, the motor connected to the opening gear 124 is controlled to adjust the position of the sliding gear block 123, the connecting seat 127 and the laser radar body 13. During the position adjustment process of the sliding gear block 123, the gear ring 125 is driven to rotate, and the position of the adjusting rod 126 is adjusted accordingly, so that the weight at both ends of the sliding frame 121 is always kept in the same state;

[0037] In the above process, when the UAV is affected by a large airflow and deviates, the wind pressure sensor 116 synchronously detects the wind pressure and sends the wind pressure data to the system. After the system calculates the wind force, the speed of the motor connected to the gear 124 is relatively adjusted, so that the moving distance of the sliding gear block 123 when adjusting the position in the slide slot 122 corresponds to the wind force, and the position adjustment direction of the sliding gear block 123 is opposite to the direction of the small deviation of the UAV, so that the position of the laser radar body 13 under the sliding gear block 123 during mapping remains relatively unchanged. When the UAV is deviated due to the airflow, the laser radar body 13 is synchronously mapped and compensated accordingly;

[0038] When the airflow decreases, the UAV system in hovering mode controls the gear 124 to reset and rotate, so that the sliding gear block 123 and the adjustment rod 126 return to their initial state. During this process, the UAV system synchronously controls the propeller 4 to reset the UAV to the initial hovering mapping position. Through the coordination of the above process parts and the system, the laser radar body 13 can generate high-resolution and accurate three-dimensional point cloud data during mapping, and establish a detailed three-dimensional model for the power line and its surrounding environment.

[0039] The contents not described in detail in this specification belong to the prior art known to the professional and technical personnel in this field. In the description of the present invention, unless otherwise specified, "multiple" means two or more; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A power monitoring drone based on laser radar real-time imaging, characterized by: The invention comprises a machine plate (1), wherein two sides of the bottom of the machine plate (1) are connected to tripods (2), the outer side of the machine plate (1) is equidistantly connected to four machine rods (3), the outer top ends of the four machine rods (3) are connected to propellers (4) via motors, a base (5) is installed on the top of the machine plate (1), the outer side of the top of the base (5) is connected to an organic box (6), a frame rod (7) is installed on the top of the base (5), a sliding sleeve (8) is installed at the middle of the frame rod (7), a sliding body (9) is embedded and movably connected to the inner side of the sliding sleeve (8), the sliding body (9) is installed on the outer side of a connecting rod (10), and the connecting rod (10) is rotatably connected to a laser radar body (13) via a compensation component (12); A rotating assembly (11), the rotating assembly (11) being arranged between the frame rod (7) and the connecting rod (10), the rotating assembly (11) being used for rotating the connecting rod (10), the rotating assembly (111) comprising a clamping block (115), the clamping block (115) being mounted on the top of the connecting rod (10), a pipe sleeve (111) being provided on the outer sliding sleeve of the clamping block (115) and the connecting rod (10), a circular plate (112) being connected to the outer sides of the upper and lower ends of the pipe sleeve (111) via bearings, a wind plate (113) being mounted on the outer side of the middle section of the pipe sleeve (111), displacement sensors (114) being connected to the two sides of the wind plate (113), a wind pressure sensor (116) being mounted on the top of the clamping block (115), and an electric push rod (117) being connected to the bottom of the circular plate (112) at the lower end, the electric push rod (117) being mounted on the upper end of the frame rod (7); A compensation component (12), the compensation component (12) being arranged between the connecting rod (10) and the laser radar body (13), the compensation component (12) being used for adjusting the position of the laser radar body (13), the compensation component (12) comprising a slide frame (121), the slide frame (121) being installed at the bottom of the connecting rod (10), a slide groove (122) being provided at the lower end of the slide frame (121), a slide tooth block (123) being provided in the slide groove (122) for limiting sliding, and an upper end of the slide tooth block (123) A gear (124) is meshed on one side, the gear (124) being mounted on a convex block on one side of the slide (121) via a motor, a gear ring (125) is meshed on the other side of the upper end of the slide block (123), the gear ring (125) is rotatably mounted on the inner convex strip of the slide (121), an adjusting rod (126) is connected to a convex column in the middle of the gear ring (125), a connecting seat (127) is mounted on the lower end of the slide block (123), and a laser radar body (13) is rotatably connected to the bottom of the connecting seat (127).

2. The power monitoring drone based on laser radar real-time imaging according to claim 1 is characterized by: The inner hole groove of the sliding sleeve (8) is designed as a spherical structure, and the spherical hole groove of the sliding sleeve (8) is used for the circumferential movement of the sliding body (9).

3. The power monitoring drone based on laser radar real-time imaging according to claim 2 is characterized by: The hole at the top of the tube sleeve (111) is designed to be a triangular structure. The triangular hole at the top of the tube sleeve (111) is used to match the concave and convex parts of the clamping block (115). The clamping block (115) is designed to be a triangular cone structure.

4. The power monitoring drone based on laser radar real-time imaging according to claim 3 is characterized by: When the sliding tooth block (123) slides to a limit position in the sliding groove (122), the gear ring (125) rotates 90 degrees, and the moving direction of the sliding tooth block (123) is opposite to the rotating direction of the gear ring (125).

5. The power monitoring drone based on laser radar real-time imaging according to claim 4 is characterized in that: A counterweight block is designed at one end of the adjustment rod (126), and the weight of the counterweight block of the adjustment rod (126) is designed in proportion to the weight of the laser radar body (13).

6. The power monitoring drone based on laser radar real-time imaging according to claim 5 is characterized by: The lever principle is used between the adjustment rod (126), the sliding gear block (123) and the laser radar body (13) to maintain the left-right balance of the sliding frame (121).

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