Cable power inspection unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of electric power inspection, and particularly discloses a cable electric power inspection unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a mounting plate is fixedly arranged in the center of the lower side of a lower shell of the unmanned aerial vehicle body, a first motor is fixedly arranged in the center of the lower side of the mounting plate, supports are symmetrically and fixedly arranged on the two sides of the first motor, and a folding rod is arranged on the lower side of the first motor. A cylindrical central processing module is arranged on the lower side of the folding rod, a rectangular frame is arranged on the outer side of the cylindrical central processing module, a parabolic reflection focusing pot is coaxially and fixedly arranged at the lower end of the cylindrical central processing module, an opening of the parabolic reflection focusing pot is back to the cylindrical central processing module, and a fixing column is coaxially and fixedly arranged on the inner side of the parabolic reflection focusing pot. A spherical platform is coaxially and fixedly arranged at one end of the fixing column, and a lifting protection mechanism is arranged on the lower side of an arm of the unmanned aerial vehicle body. According to the utility model, defects of a traditional manual inspection mode are avoided, more efficient, safer and more accurate electric power inspection is realized, and safe and stable operation of an electric power system is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of electric power inspection, and specifically refers to a cable electric power inspection drone. Background Art

[0002] As an indispensable energy source for the development of modern society, the safe and stable supply of electricity is of vital importance. As a key link in power transmission, the operating status of high-voltage transmission lines is directly related to the safety and reliability of the entire power system. Therefore, regular inspections of high-voltage transmission lines and timely detection and elimination of potential faults are of great significance to ensure the safe and stable operation of the power system.

[0003] The contents of cable power inspection mainly include: appearance inspection, that is, inspection of the appearance of cable lines and their ancillary equipment, such as whether there is damage, corrosion, looseness, hanging foreign objects, etc.; infrared temperature measurement, that is, using infrared thermal imagers to measure the temperature of key parts such as cable joints and terminals to determine whether there is overheating; partial discharge detection, that is, using professional detection equipment to detect and locate partial discharge caused by cable insulation defects; other detections, including line parameter measurement, ground resistance measurement, etc.

[0004] Partial discharge is an important manifestation of high-voltage cable insulation degradation. If not handled in time, it may lead to insulation breakdown and cause serious power accidents. Traditional partial discharge detection methods mainly rely on manual inspections, that is, inspectors carry detection instruments and walk along the line or take inspection vehicles for detection. However, the traditional manual inspection method has the following defects: manual inspection is slow and inefficient, especially in the case of complex terrain and large line spans, manual inspections are often difficult to fully cover all lines; there are strong electromagnetic fields around high-voltage transmission lines, which are harmful to human health. At the same time, some lines are located in complex environments such as mountainous areas and rivers, and manual inspections have certain safety risks; affected by the propagation distance, the ultrasonic signals received by ultrasonic detection equipment are relatively weak, which is not conducive to signal collection, processing and analysis, affecting the detection results. Utility Model Content

[0005] In view of the above situation, the utility model provides a cable power inspection drone to avoid the defects of traditional manual inspection methods, achieve more efficient, safe and accurate power inspection, and ensure the safe and stable operation of the power system.

[0006] The technical solution adopted by the utility model is as follows: The utility model proposes a cable power inspection drone, including a drone body, a mounting plate is fixedly provided at the center of the lower side of the lower shell of the drone body, a first motor is fixedly provided at the center of the lower side of the mounting plate, brackets are symmetrically fixedly provided on both sides of the first motor, a folding rod is provided at the lower side of the first motor, a cylindrical central processing module is provided at the lower side of the folding rod, a rectangular frame is provided at the outer side of the cylindrical central processing module, a parabolic reflection focusing pot is coaxially fixed at the lower end of the cylindrical central processing module, the opening of the parabolic reflection focusing pot is facing away from the cylindrical central processing module, a fixing column is coaxially fixed at the inner side of the parabolic reflection focusing pot, a spherical platform is coaxially fixed at one end of the fixing column, and a lifting protection mechanism is provided at the lower side of the arm of the drone body.

[0007] Furthermore, the horizontal section end of the folding rod is vertically fixedly connected to the output end of the first motor, a limit shaft is coaxially fixedly provided at the upper end of the cylindrical central processing module, and the limit shaft is vertically rotationally connected to the downward inclined section end of the folding rod, a first rotating shaft is vertically symmetrically fixedly provided on the outer side of the middle part of the left and right walls of the rectangular frame, and the first rotating shaft is rotationally connected to the lower end of the adjacent bracket, and second rotating shafts are symmetrically fixedly provided on both sides of the cylindrical central processing module, and the second rotating shaft is rotationally connected to the middle part of the front and rear walls of the rectangular frame respectively.

[0008] Furthermore, the lifting protection mechanism includes an outer tube, which is vertically fixed on the lower side of the arm of the drone body. The number of the outer tubes is the same as the number of the arms of the drone body. An inner tube is tightly and slidingly arranged inside the outer tube. A stabilizing claw is fixed at the lower end of the inner tube to achieve stable contact with the ground. A first connecting rod is fixed between the lower ends of adjacent inner tubes to achieve synchronous movement of the inner tubes, wherein a second connecting rod is fixed between the lower ends of two adjacent outer tubes, a rack is vertically fixed on the upper middle part of the first connecting rod directly below the second connecting rod, a second motor is fixed on the upper middle part of the second connecting rod, a gear is coaxially fixed on the output end of the second motor, and the rack tightly passes through the second connecting rod and is meshed with the gear.

[0009] Furthermore, the ultrasonic signal will be reflected and converged to a focus after reaching the surface of the parabolic reflection focusing dish. The spherical platform is located at the focus of the parabolic reflection focusing dish, and a spherical array of ultrasonic sensors is fixed on the surface of the spherical platform.

[0010] Furthermore, a counterweight is fixedly provided on the lower side of the lower casing of the drone body at a side away from the rack, for balancing the drone body.

[0011] Furthermore, a camera is fixed downward on the opening edge of the parabolic reflective focusing pot for monitoring and filming.

[0012] Furthermore, when the inner tube limiter moves to the lowermost end, the parabolic reflection focusing pot and the camera are located above the stabilizing claw, and when the inner tube limiter moves to the uppermost end, the lifting protection mechanism will not block the opening extension direction of the parabolic reflection focusing pot.

[0013] The beneficial effects achieved by the utility model using the above structure are as follows:

[0014] (1) The parabolic reflective focusing pot converges the ultrasonic signal from the local discharge point to the spherical platform at the focus. The spherical array of ultrasonic sensors located on the spherical platform receives the signal. The cylindrical central processing module converts the signal into an electrical signal and determines the location and intensity of the local discharge. Since the ultrasonic signal energy generated by local discharge is usually weak and dispersed over a large spatial range, the parabolic reflective focusing pot can reflect signals from different directions and converge them to the spherical platform, thereby concentrating the originally dispersed energy, significantly enhancing the intensity of the ultrasonic signal to form a strong signal, which is easier to be recognized and captured by the ultrasonic sensor. Clearer signal characteristics are conducive to the signal processing algorithm to more accurately calculate the location of the local discharge, thereby improving the reliability of the detection results.

[0015] (2) The combination of the first motor, the bracket, the folding rod, the rectangular frame and the cylindrical central processing module enables the entire parabolic reflective focusing dish and the ultrasonic sensor to swing in a circle within a certain angle range. The first motor is remotely started to rotate to drive the folding rod to rotate, which in turn drives the cylindrical central processing module to swing in a conical circle. Under the limit of the second rotating shaft, the rectangular frame is driven to swing back and forth slightly around the first rotating shaft, thereby expanding the detection and receiving range of the parabolic reflective focusing dish. Since the cylindrical central processing module only swings in a circle, similar to a circular swinging electric fan, it does not rotate itself, avoiding the rotation and entanglement of the corresponding connecting wires. At the same time, it realizes the scanning and detection of a larger range of transmission lines, avoiding frequent adjustments to the flight path, and improving the inspection efficiency.

[0016] (3) The use of drone inspections avoids the shortcomings of traditional manual inspections, such as low efficiency, poor safety, and difficulty in achieving full coverage, and achieves more efficient, safe, and accurate power inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of a cable power inspection drone proposed by the utility model when it is landing.

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of a cable power inspection UAV proposed by the utility model during flight.

[0019] Figure 3This is a structural schematic diagram of the positional relationship between the folding rod and the columnar central processing module of a cable power inspection drone proposed in the utility model.

[0020] Figure 4 This is a schematic diagram of the exploded structure of the positional relationship between a bracket and a first rotating shaft of a cable power inspection drone proposed in the utility model.

[0021] Figure 5 for Figure 1 Enlarged view of part A.

[0022] Among them, 1. UAV body, 2. Mounting plate, 3. First motor, 31. Bracket, 4. Folding rod, 5. Rectangular frame, 51. First rotating shaft, 6. Columnar central processing module, 61. Limiting shaft, 62. Second rotating shaft, 63. Parabolic reflection focusing pot, 64. Fixed column, 65. Spherical platform, 66. Ultrasonic sensor, 67. Camera, 7. Lifting protection mechanism, 71. Outer tube, 72. Inner tube, 73. Stabilizing claw, 74. First connecting rod, 75. Second connecting rod, 76. Rack, 77. Second motor, 78. Gear, 8. Counterweight.

[0023] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments; based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0025] In the description of the present invention, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0026] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, the utility model proposes a cable power inspection drone, including a drone body 1, a mounting plate 2 is fixedly arranged at the center of the lower side of the lower shell of the drone body 1, a first motor 3 is fixedly arranged at the center of the lower side of the mounting plate 2, brackets 31 are symmetrically fixedly arranged on both sides of the first motor 3, a folding rod 4 is arranged at the lower side of the first motor 3, a cylindrical central processing module 6 is arranged at the lower side of the folding rod 4, a rectangular frame 5 is arranged at the outer side of the cylindrical central processing module 6, a parabolic reflection focusing pot 63 is coaxially fixedly arranged at the lower end of the cylindrical central processing module 6, the opening of the parabolic reflection focusing pot 63 faces away from the cylindrical central processing module 6, a fixing column 64 is coaxially fixedly arranged at the inner side of the parabolic reflection focusing pot 63, a spherical platform 65 is coaxially fixedly arranged at one end of the fixing column 64, and a lifting protection mechanism 7 is arranged at the lower side of the arm of the drone body 1.

[0027] Among them, the horizontal section end of the folding rod 4 is vertically fixedly connected to the output end of the first motor 3, a limit shaft 61 is coaxially fixed on the upper end of the cylindrical central processing module 6, and the limit shaft 61 is vertically rotatably connected to the downward inclined section end of the folding rod 4, and a first rotating shaft 51 is vertically symmetrically fixed on the outer side of the middle of the left and right walls of the rectangular frame 5, and the first rotating shaft 51 is rotatably connected to the lower end of the adjacent bracket 31, and second rotating shafts 62 are symmetrically fixed on both sides of the cylindrical central processing module 6, and the second rotating shaft 62 is rotatably connected to the middle of the front and rear walls of the rectangular frame 5 respectively.

[0028] Among them, the lifting protection mechanism 7 includes an outer tube 71, which is vertically fixed on the lower side of the arm of the drone body 1. The number of the outer tubes 71 is the same as the number of the arms of the drone body 1. An inner tube 72 is tightly and slidably arranged inside the outer tube 71. A stabilizing claw 73 is fixed at the lower end of the inner tube 72. A first connecting rod 74 is fixed between the lower ends of adjacent inner tubes 72, wherein a second connecting rod 75 is fixed between the lower ends of two adjacent outer tubes 71, a rack 76 is vertically fixed on the upper middle side of the first connecting rod 74 directly below the second connecting rod 75, a second motor 77 is fixed on the upper middle side of the second connecting rod 75, a gear 78 is coaxially fixed on the output end of the second motor 77, and the rack 76 tightly passes through the second connecting rod 75 and is meshed with the gear 78.

[0029] Among them, the ultrasonic signal will be reflected and converged to a focus after reaching the surface of the parabolic reflection focusing pot 63. The spherical platform 65 is located at the focus of the parabolic reflection focusing pot 63. The spherical array on the surface of the spherical platform 65 is fixed with an ultrasonic sensor 66. A counterweight block 8 is fixed on the lower side of the lower casing of the drone body 1 on the side away from the rack 76. A camera 67 is fixed downward on the opening edge of the parabolic reflection focusing pot 63. When the inner tube 72 is limited to move to the lower end, the parabolic reflection focusing pot 63 and the camera 67 are located above the stabilizing claw 73. When the inner tube 72 is limited to move to the upper end, the lifting protection mechanism 7 will not block the extension direction of the opening of the parabolic reflection focusing pot 63.

[0030] During specific use, the state of the lifting protection mechanism 7 is adjusted to adapt to the flight state and landing state of the drone body 1. When the drone body 1 is flying, the second motor 77 is remotely controlled to rotate forward to drive the gear 78 to rotate and then drive the rack 76 to move upward, driving all the first connecting rods 74 to move upward, so that the inner tube 72 is completely extended into the outer tube 71, so that the lifting protection mechanism 7 will not block the opening of the parabolic reflection focusing pot 63. When the drone body 1 lands, the second motor 77 is remotely controlled to reverse, so that the stabilizing claw 73 is located below the parabolic reflection focusing pot 63, so that when the stabilizing claw 73 touches the ground, the ultrasonic sensor 66 and the camera 67 will not touch the ground.

[0031] During inspection, the drone body 1 is controlled to fly above the high-voltage transmission line. When local discharge occurs on the high-voltage transmission line, an ultrasonic signal in a specific frequency range is generated. The ultrasonic signal propagates in the form of a plane wave. The parabolic reflection focusing pot 63 converges the ultrasonic signal from the local discharge point to the spherical platform 65 at the focus. The spherical array ultrasonic sensor 66 located on the spherical platform 65 receives the signal. Since the cylindrical central processing module 6 integrates filtering, analog-to-digital conversion, power management, data processing, wireless communication and other functions, the cylindrical central processing module 6 can convert the signal into an electrical signal and determine the location and intensity of the local discharge. Since the ultrasonic signal energy generated by local discharge is usually weak and dispersed in a large spatial range, the parabolic reflection focusing pot 63 can converge the signal reflections from different directions to the spherical platform 65, thereby concentrating the originally dispersed energy, so that the ultrasonic signal intensity is significantly enhanced to form a strong signal, which is easier to be recognized and captured by the ultrasonic sensor 66. Clearer signal characteristics are conducive to the signal processing algorithm to more accurately calculate the occurrence location of local discharge and improve the reliability of the detection results. During the inspection process, the camera 67 is carried out for synchronous shooting to monitor the flight trajectory of the drone body 1 and also provide a more intuitive reference for troubleshooting and data analysis.

[0032] The combination of the first motor 3, the bracket 31, the folding rod 4, the rectangular frame 5 and the cylindrical central processing module 6 can make the entire parabolic reflection focusing pot 63 and the ultrasonic sensor 66 swing in a circle within a certain angle range. The first motor 3 is remotely started to rotate to drive the folding rod 4 to rotate, and then drive the cylindrical central processing module 6 to swing in a conical circle. Under the limit of the second rotating shaft 62, the rectangular frame 5 is driven to swing back and forth slightly around the first rotating shaft 51, thereby expanding the detection and receiving range of the parabolic reflection focusing pot 63. Since the cylindrical central processing module 6 only swings in a circle, similar to a circular swinging electric fan, it will not rotate itself, avoiding the rotation and entanglement of the corresponding connecting wires, and at the same time realizing the scanning and detection of a larger range of transmission lines, thereby improving the inspection efficiency.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0034] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention.

[0035] The above description of the utility model and its implementation methods is not restrictive. The drawings show only one implementation method of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention of the utility model, they should all fall within the protection scope of the utility model.

Claims

1. A cable power inspection drone, comprising a drone body (1), characterized in that: A mounting plate (2) is fixedly provided at the center of the lower side of the lower casing of the drone body (1); a first motor (3) is fixedly provided at the center of the lower side of the mounting plate (2); brackets (31) are symmetrically fixedly provided on both sides of the first motor (3); a folding rod (4) is provided at the lower side of the first motor (3); a columnar central processing module (6) is provided at the lower side of the folding rod (4); a rectangular frame (5) is provided on the outer side of the columnar central processing module (6); a parabolic reflection focusing pot (63) is coaxially fixedly provided at the lower end of the columnar central processing module (6); the opening of the parabolic reflection focusing pot (63) faces away from the columnar central processing module (6); a fixing column (64) is coaxially fixedly provided on the inner side of the parabolic reflection focusing pot (63); a spherical platform (65) is coaxially fixedly provided at one end of the fixing column (64); and a lifting protection mechanism (7) is provided at the lower side of the arm of the drone body (1).

2. A cable power inspection drone according to claim 1, characterized in that: The horizontal section end of the folding rod (4) is vertically fixedly connected to the output end of the first motor (3); a limit shaft (61) is coaxially fixedly provided at the upper end of the columnar central processing module (6); the limit shaft (61) is vertically rotatably connected to the downwardly inclined section end of the folding rod (4); a first rotating shaft (51) is vertically symmetrically fixedly provided on the outer sides of the middle of the left and right walls of the rectangular frame (5); the first rotating shaft (51) is rotatably connected to the lower end of the adjacent bracket (31); and second rotating shafts (62) are symmetrically fixedly provided on both sides of the columnar central processing module (6); the second rotating shafts (62) are respectively rotatably connected to the middle of the front and rear walls of the rectangular frame (5).

3. A cable power inspection drone according to claim 2, characterized in that: The lifting protection mechanism (7) comprises an outer tube (71), the outer tube (71) being vertically fixed on the lower side of the arm of the drone body (1), the number of the outer tubes (71) being the same as the number of the arms of the drone body (1), an inner tube (72) being tightly and slidably arranged inside the outer tube (71), a stabilizing claw (73) being fixedly arranged at the lower end of the inner tube (72), a first connecting rod (74) being fixedly arranged between the lower ends of adjacent inner tubes (72), a second connecting rod (75) being fixedly arranged between the lower ends of two adjacent outer tubes (71), a rack (76) being vertically fixedly arranged on the upper middle side of the first connecting rod (74) directly below the second connecting rod (75), a second motor (77) being fixedly arranged on the upper middle side of the second connecting rod (75), a gear (78) being coaxially fixedly arranged on the output end of the second motor (77), the gear (76) being tightly and penetrating the second connecting rod (75) and then being meshedly connected with the gear (78).

4. A cable power inspection drone according to claim 3, characterized in that: After the ultrasonic signal reaches the surface of the parabolic reflection focusing pot (63), it will be reflected and converged to a focus. The spherical platform (65) is located at the focus of the parabolic reflection focusing pot (63). The surface of the spherical platform (65) is fixed with an ultrasonic sensor (66) in a spherical array.

5. A cable power inspection drone according to claim 4, characterized in that: A counterweight (8) is fixedly provided on the lower side of the lower casing of the drone body (1) at a side away from the rack (76).

6. A cable power inspection drone according to claim 5, characterized in that: A camera (67) is fixedly disposed on the opening edge of the parabolic reflective focusing pot (63) facing downward.

7. A cable power inspection drone according to claim 6, characterized in that: When the inner tube (72) is limitedly moved to the lowermost end, the parabolic reflective focusing pot (63) and the camera (67) are located above the stabilizing claw (73); when the inner tube (72) is limitedly moved to the uppermost end, the lifting protection mechanism (7) will not block the extension direction of the opening of the parabolic reflective focusing pot (63).

Images