A foreign body removal device for power transmission lines based on drones

Abstract

The present invention belongs to the field of power transmission line foreign body removal, and provides a power transmission line foreign body removal device based on a drone, wherein a control device is used to identify foreign bodies according to image data returned by a camera device, and if there are foreign bodies in the image, it is determined whether the foreign bodies are in the center of the image, and if they are in the center of the image, the foreign body removal device is directly controlled to remove the foreign bodies, otherwise, the three-dimensional coordinates of the pan-tilt are adjusted so that the foreign bodies are in the center of the image, and the foreign body removal device is controlled to remove the foreign bodies based on the target position, and the foreign body removal mechanism includes a first removal device and a second removal device, and the controller controls the corresponding removal device to remove the foreign bodies according to the classification result, and if the classification result is a first-class foreign body, the first removal device is called, and if the classification structure is a first-class foreign body, the second removal device is called. The workload of inspection personnel can be greatly reduced, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of power transmission line foreign matter removal, and in particular relates to a power transmission line foreign matter removal device based on an unmanned aerial vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] High-voltage transmission line channels are generally set up in relatively open areas in the suburbs. Floating objects can easily get caught on the ground wires, pole towers and hardware of high-voltage transmission lines under the action of wind, seriously threatening the safe and reliable operation of the power grid. At the same time, bird nests are often built on line towers. Foreign objects and bird damage pose a great threat to transmission lines, which may cause line faults and tripping, seriously threatening the safe and reliable operation of the power grid.

[0004] The current foreign object removal device requires staff to drive a patrol vehicle to inspect along the transmission line. When foreign objects are found on the transmission line, they are manually operated to remove the foreign objects. However, there are still cases where the line trips due to inadequate inspections, bird nests and foreign objects not being cleaned in time, and the reliability of power supply cannot be guaranteed.

[0005] At the same time, different types of foreign bodies cannot be effectively removed by the same removal method. For example, entangled foreign bodies cannot be truly removed by traditional analytical structures, while bird-damaged foreign bodies cannot be removed by cutting methods. Summary of the invention

[0006] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a transmission line foreign matter removal device based on a drone, which uses a drone to drive the removal device to remove foreign matter, without the need to fix the device on the transmission line, is not restricted by the region, is easy to use, and can be reused. On the other hand, the foreign matter can be presented to the center of the field of view by adjusting the pan / tilt, so as to achieve the effect of accurately removing the foreign matter, which can greatly reduce the workload of the inspection personnel and improve the inspection efficiency.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A foreign object removal device for a power transmission line based on an unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a control device is arranged in the unmanned aerial vehicle body, and a movable pan-tilt device is arranged below the unmanned aerial vehicle body, wherein a camera device and a foreign object removal device are mounted on the pan-tilt device, wherein the control device is used to identify foreign objects according to image data returned by the camera device, and if foreign objects exist in the image, it is determined whether the foreign objects are located at the center of the image, and if they are located at the center of the image, the foreign object removal device is directly controlled to remove the foreign objects, otherwise, the foreign objects are located at the center of the image by adjusting the three-dimensional coordinates of the pan-tilt device, and the foreign object removal device is controlled to remove the foreign objects based on the target position, wherein the foreign object removal mechanism comprises a first removal device and a second removal device, and wherein the controller controls the corresponding removal device to remove the foreign objects according to the classification result, and if the classification result is a first type of foreign object, the first removal device is called, and if the classification structure is a first type of foreign object, the second removal device is called.

[0009] The advantages of the above scheme are that the removal device is driven by a drone to remove foreign objects, and there is no need to fix the equipment on the transmission line. It is not restricted by geographical location, easy to use, and can be reused. On the other hand, the foreign objects can be presented to the center of the field of view by adjusting the pan / tilt to achieve the effect of accurate removal of foreign objects, which can greatly reduce the workload of inspection personnel and improve inspection efficiency.

[0010] As an implementation manner, the identifying whether there is a foreign object on the transmission line includes:

[0011] Classifying the historical image set according to the foreign object category to generate an image data classification library, wherein the historical image set is an image set of foreign objects on the power transmission line;

[0012] Extracting typical features of various types of images in the image data classification library, and establishing a classification model for foreign objects in power transmission lines based on the typical features;

[0013] Judging the real-time image of the power transmission line to be identified according to the classification model, and obtaining typical features of the power transmission line to be identified;

[0014] Determine whether it is a foreign object based on the typical features of the transmission line to be identified.

[0015] As an implementation manner, the step of determining whether the foreign matter is at the center of the image is as follows:

[0016] Obtaining the bounding box of the foreign object in the image according to the image recognition result;

[0017] The border of the foreign object is compared with the boundary of the image, and a threshold range of the border is set in the image. If the border of the foreign object falls within the range, it can be considered that the foreign object is in the center of the image.

[0018] As an embodiment, the gimbal device includes a gimbal panel and a main bracket, the gimbal panel is mounted on the main bracket, the gimbal panel is used to install a camera device and a foreign object removal device, the main bracket includes three bracket assemblies, each bracket assembly includes a unit bracket and a moving assembly installed on the unit bracket, the moving assembly is installed with the gimbal panel through a branch rod, and the branch rod is rotatably installed with the gimbal panel.

[0019] As an implementation mode, each moving component includes a slide, a linear guide rail and a stepper motor. The three linear guide rails in the main bracket are perpendicular to each other. The slide moves along the linear guide rails. The branch rods are rotatably installed on the slide. The slide is arranged with a connecting block hinged to the branch rods. The branch rods are rotatably connected to the connecting block. The control device determines that the foreign matter is in the deviation direction of the image, and controls the displacement direction of the slide based on the deviation direction. The slide moves with the branch rods, so that the gimbal panel rotates in three degrees of freedom in space.

[0020] As an embodiment, the first type of cleaning device is a laser cutting device, the laser cutting device and the camera are arranged in parallel, and the controller adjusts the fiber laser to align with the foreign matter for cutting and cleaning according to the distance between the fiber laser and the camera.

[0021] As an implementation mode, the laser cutting device adopts a fiber laser.

[0022] As an embodiment, the first clearing device includes a lower connecting block, a first telescopic mechanism is arranged below the lower connecting block, an extension rod is arranged at the lower end of the first telescopic mechanism, an arc-shaped cover body with a downward opening is arranged at the lower end of the extension rod, a plurality of rotating brackets are evenly distributed on the edge of the arc-shaped cover body, a rotating shaft is arranged on the rotating bracket, a fixed claw is movably arranged on the rotating shaft, a sliding sleeve is sleeved on the outer side of the extension rod, a sliding block is arranged in the sliding sleeve, a sliding groove is arranged on the extension rod corresponding to the sliding block, a plurality of crank arms cooperating with the fixed claw are rotatably arranged at the lower end of the sliding sleeve, the other end of the crank arm is rotatably connected to the fixed claw, and a lifting mechanism for driving the sliding sleeve is arranged on the arc-shaped cover body.

[0023] As an embodiment, the lifting mechanism includes a second telescopic mechanism provided on the arc-shaped cover body and parallel to the extension rod, and the upper end of the second telescopic mechanism is connected to the sliding sleeve through a connecting rod.

[0024] As an embodiment, the first telescopic mechanism and the second telescopic mechanism are connected to the second stepper motor via a connecting line, and the second stepper motor is arranged inside the drone and connected to a control device, and the control device controls the lifting and lowering of the lifting mechanism by controlling the motor.

[0025] The beneficial effects of the present invention are:

[0026] This device uses a drone to drive the removal device to remove foreign objects. There is no need to fix the equipment on the transmission line. It is not restricted by the region, easy to use and can be reused. On the other hand, the foreign objects can be presented to the center of the field of view by adjusting the pan / tilt to achieve the effect of accurately removing foreign objects.

[0027] It can greatly reduce the workload of inspection personnel and improve inspection efficiency.

[0028] The device specifically calls the corresponding foreign body removal mechanism according to different types of foreign bodies. For the first type of foreign bodies, which are entangled foreign bodies, ordinary mechanical removal devices cannot effectively remove them. For foreign bodies such as bird nests, cutting devices cannot cut them. This device can achieve the effect of completely removing foreign bodies.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 1 is a schematic diagram of the overall structure of a power transmission line foreign body removal device based on a drone in an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of a pan / tilt device in an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of the structure of each mobile component in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the flipping mechanism in an embodiment of the present invention;

[0035] Among them, 1-control device, 2-pan-tilt device, 201-pan-tilt panel, 202-bracket assembly, 2021-unit bracket, 2022-bracket rod, 203-slide, 204-linear guide, 205-stepping motor, 206-connecting block, 3-camera device, 4-control module, 41-first cleaning device, 401-lower connecting block, 402-first telescopic mechanism, 403-extension rod, 404-arc cover, 405-rotating bracket, 406-rotating shaft, 407-fixed claw, 408-sleeve, 409-slider, 410-slide groove, 411-crank arm, 412-second telescopic mechanism, 413-connecting rod. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] In the present invention, the directions or positional relationships indicated by terms such as "top", "bottom", "horizontal", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0040] In the present invention, terms such as "connection" should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meaning of the above terms in the present invention can be determined according to specific circumstances, and it cannot be understood as a limitation of the present invention.

[0041] As mentioned in the background of the present invention,

[0042] like Figure 1 As shown, this embodiment provides a transmission line foreign body removal device based on a drone, including a drone body, a control device 1 is arranged in the drone body, a movable pan-tilt device 2 is arranged below, a camera device 3 and a foreign body removal device 4 are installed on the pan-tilt device 2, and the control device 1 is used to identify foreign bodies according to the image returned by the camera device 3. If there is a foreign body, it is determined whether the foreign body is in the center of the image. If it is in the center of the image, the foreign body removal device 4 is directly controlled to remove the foreign body. Otherwise, the three-dimensional coordinates of the pan-tilt are adjusted so that the foreign body is in the center of the image, and the foreign body removal device 4 is controlled to remove the foreign body based on the target position. The foreign body removal device 4 includes a first removal device 41 and a second removal device 42. The controller controls the corresponding removal device to remove foreign bodies according to the classification result. If the classification result is a first-class foreign body, the first removal device is called, and if the classification structure is a first-class foreign body, the second removal device is called.

[0043] On the one hand, the device uses a drone to drive the removal device to remove foreign objects. There is no need to fix the equipment on the transmission line. It is not restricted by the region, easy to use and can be reused. On the other hand, the foreign objects can be presented to the center of the field of vision by adjusting the pan / tilt to achieve the effect of accurate removal of foreign objects. It can greatly reduce the workload of inspection personnel and improve inspection efficiency.

[0044] The first type of foreign matter is entangled foreign matter, which cannot be effectively removed by ordinary mechanical removal devices. Foreign matter such as bird nests cannot be cut by cutting devices. Therefore, this device specifically calls the corresponding foreign matter removal mechanism according to different types of foreign matter to achieve the effect of completely removing foreign matter.

[0045] Among them, the specific method of identifying whether there are foreign objects on the transmission line is:

[0046] Step 1: Classify the historical image set according to the foreign object category to generate an image data classification library, wherein the historical image set is an image set of foreign objects on the power transmission line;

[0047] Step 2: extracting typical features of various types of images in the image data classification library, and establishing a classification model for foreign bodies on power transmission lines based on the typical features;

[0048] Step 3: judging the real-time image of the power transmission line to be identified according to the classification model to obtain typical features of the power transmission line to be identified;

[0049] Step 4: Determine whether it is a foreign object based on the typical features of the transmission line to be identified.

[0050] The process of determining whether the foreign object is at the center of the image includes the following steps:

[0051] Identify the border of the foreign object in the image;

[0052] The border of the foreign object is compared with the boundary of the image, and a threshold range of the border is set in the image. If the border of the foreign object falls within the range, it can be considered that the foreign object is in the center of the image.

[0053] It should be noted that the foreign object border recognition method can use existing target recognition algorithms for recognition, such as R-CNN and YOLO algorithms.

[0054] like Figure 2 As shown, the pan-tilt device 2 includes a pan-tilt panel 201 and a main bracket. The pan-tilt panel 201 is installed on the main bracket. The pan-tilt panel 201 is used to install the camera device 3 and the foreign matter removing device 4. The position of the pan-tilt panel 201 on the main bracket is adjustable.

[0055] The main bracket includes three bracket assemblies, each bracket assembly 202 includes a unit bracket 2021 and a moving assembly installed on the unit bracket 2021, the moving assembly is installed with the gimbal panel 201 through a branch rod 2022, and the branch rod 2022 is rotatably installed with the gimbal panel 201.

[0056] The gimbal panel 201 has three hinged ends, and the branch chain rod 2022 is ball-jointed to the hinged ends. The three hinged ends are respectively located at the three corners of a triangle. The moving component drives the corresponding branch chain rod 2022 to move, thereby adjusting the tilt direction of the gimbal panel 201.

[0057] The advantages of the above scheme are that three branching rods 2022 are connected in parallel to the pan-tilt panel 201, which has high sensitivity, greatly increases the carrying capacity, and has the characteristics of strong functionality, simple structure, high positioning accuracy and strong anti-interference. The moving directions of the three moving components are perpendicular to each other, so that the pan-tilt panel can rotate and adjust the tilt direction in a three-dimensional system.

[0058] It is understandable that the pan-tilt panel 201 is provided with an angle fusion sensor, the branch link 2022 is provided with an angle encoder, and the moving assembly is provided with a displacement sensor. By using the angle encoder or the displacement sensor in conjunction with the angle fusion sensor, the pan-tilt device can be adjusted automatically, which is convenient and simple.

[0059] like Figure 3 As shown, as one or more embodiments, each moving component includes a slide 203, a linear guide 204 and a stepper motor 205. The three linear guides 204 in the main bracket are perpendicular to each other. The slide 203 moves along the linear guides 204. The branch rods 2022 are rotatably installed on the slide 203. The slide 203 is arranged with a connecting block hinged to the branch rods 2022. The branch rods 2022 are rotatably connected to the connecting block 206. The control device determines that the foreign matter is in the deviation direction of the image, and controls the deviation direction as the displacement direction of the slide. The slide 203 moves with the branch rods 2022, thereby rotating the gimbal panel 201, thereby realizing the spatial three-degree-of-freedom rotation of the gimbal panel 201.

[0060] As one or more embodiments, the first cleaning device is arranged at the bottom of the drone, and the second type of cleaning device is a laser cutting device. The laser cutting device adopts a fiber laser. The fiber laser and the camera are arranged in parallel. The controller adjusts the fiber laser to aim at the foreign matter for cutting and removal according to the distance between the fiber laser and the camera.

[0061] like Figure 4As shown, the first clearing device 41 includes a lower connecting block 401, a first telescopic mechanism 402 is arranged below the lower connecting block 401, an extension rod 403 is arranged at the lower end of the first telescopic mechanism 402, an arc-shaped cover body 404 with a downward opening is arranged at the lower end of the extension rod 403, a plurality of rotating brackets 405 are evenly arranged on the edge of the arc-shaped cover body 404, a rotating shaft 406 is arranged on the rotating bracket 405, a fixed claw 407 is movably arranged on the rotating shaft 406, a sliding sleeve 408 is sleeved on the outer side of the extension rod 403, a slider 409 is arranged in the sliding sleeve 408, a sliding groove 410 is arranged on the extension rod 403 corresponding to the slider 409, a plurality of crank arms 411 cooperating with the fixed claw 407 are rotatably arranged at the lower end of the sliding sleeve 408, the other end of the crank arm 411 is rotatably connected to the fixed claw 407, and a lifting mechanism for driving the sliding sleeve 408 is arranged on the arc-shaped cover body 404.

[0062] The lifting mechanism includes a second telescopic mechanism 412 disposed on the arc-shaped cover body 404 and parallel to the extension rod 403 , and the upper end of the second telescopic mechanism 412 is connected to the sliding sleeve 408 via a connecting rod 413 .

[0063] The first telescopic mechanism 402 and the second telescopic mechanism 412 are connected to a second stepper motor via a connecting line. The second stepper motor is arranged inside the drone and connected to the control device 1. The control device 1 controls the lifting and lowering of the lifting mechanism by controlling the motor.

[0064] It can be understood that in this embodiment, the image acquisition device 5 can be a camera or other equipment. In other embodiments, those skilled in the art can set it according to specific working conditions, which will not be described in detail here.

[0065] The data transmission between the image acquisition device, the sensor and the control module can be transmitted via a data cable or wirelessly, and can be set according to actual needs. The specific acquisition principle has been described in the prior art and will not be elaborated in detail in this embodiment.

[0066] The advantage of the above scheme is that the device can call the corresponding foreign body removal device according to the type of foreign body to completely remove the foreign body. The corresponding foreign body removal mechanism is called in a targeted manner according to the type of foreign body. For the first type of foreign body, which is entangled foreign body, ordinary mechanical removal devices cannot effectively remove it. For foreign bodies such as bird nests, cutting devices cannot be used to cut them. This device can achieve the effect of completely removing foreign bodies.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transmission line foreign body removal device based on drone, characterized in that: The invention comprises a drone body, wherein a control device is arranged in the drone body, and a movable pan-tilt device is arranged below the drone body. A camera device and a foreign object removal device are installed on the pan-tilt device. The control device is used to identify foreign objects according to image data returned by the camera device. If foreign objects exist in the image, it is determined whether the foreign objects are located at the center of the image. If they are located at the center of the image, the foreign object removal device is directly controlled to remove the foreign objects. Otherwise, the foreign objects are located at the center of the image by adjusting the three-dimensional coordinates of the pan-tilt device. The foreign object removal device is controlled to remove the foreign objects based on the position of the foreign objects. The foreign object removal device comprises a first removal device and a second removal device. The control device controls the corresponding removal device to remove the foreign objects according to the classification result. If the classification result is a first-class foreign object, the first removal device is called. If the classification result is a second-class foreign object, the second removal device is called. The pan-tilt device comprises a pan-tilt panel and a main bracket, the pan-tilt panel is mounted on the main bracket, the pan-tilt panel is used to mount a camera device and a foreign matter removal device, the main bracket comprises three bracket assemblies, each bracket assembly comprises a unit bracket and a moving assembly mounted on the unit bracket, the moving assembly is mounted on the pan-tilt panel via a branch chain rod, and the branch chain rod is rotatably mounted on the pan-tilt panel; Each moving component includes a slide, a linear guide and a stepper motor. The three linear guides in the main bracket are perpendicular to each other. The slide moves along the linear guides. The branch rods are rotatably installed on the slide. The slide is arranged with a connecting block hinged to the branch rods. The branch rods are rotatably connected to the connecting block. The control device determines whether the foreign matter is in the deviation direction of the image, and controls the displacement direction of the slide based on the deviation direction. The slide moves with the branch rods, so that the pan-tilt panel rotates in three degrees of freedom in space.

2. The transmission line foreign matter removal device based on a drone as claimed in claim 1, characterized in that: The control device is used to identify foreign objects according to the image data returned by the camera device, and includes: Classifying the historical image set according to the foreign object category to generate an image data classification library, wherein the historical image set is an image set of foreign objects on the power transmission line; Extracting typical features of various types of images in the image data classification library, and establishing a classification model for foreign objects in power transmission lines based on the typical features; Judging the real-time image of the power transmission line to be identified according to the classification model, and obtaining typical features of the power transmission line to be identified; Determine whether it is a foreign object based on the typical features of the transmission line to be identified.

3. The transmission line foreign matter removal device based on drone as claimed in claim 1, characterized in that: The method of judging whether the foreign body is at the center of the image is as follows: Obtaining the bounding box of the foreign object in the image according to the image recognition result; The border of the foreign object is compared with the boundary of the image, and a threshold range of the border is set in the image. If the border of the foreign object falls within the range, the foreign object is considered to be in the center of the image.

4. The transmission line foreign matter removal device based on drone as claimed in claim 1, characterized in that: The first cleaning device is a laser cutting device, and the laser cutting device and the camera are arranged in parallel. The control device adjusts the laser cutting device according to the distance between the laser cutting device and the camera to align the laser cutting device to cut and remove the foreign matter.

5. The transmission line foreign matter removal device based on drone as claimed in claim 4, characterized in that: The laser cutting device adopts a fiber laser.

6. The transmission line foreign matter removal device based on a drone as claimed in claim 1, characterized in that: The first clearing device includes a lower connecting block, a first telescopic mechanism is arranged below the lower connecting block, an extension rod is arranged at the lower end of the first telescopic mechanism, an arc-shaped cover body with a downward opening is arranged at the lower end of the extension rod, a plurality of rotating brackets are evenly arranged on the edge of the arc-shaped cover body, a rotating shaft is arranged on the rotating bracket, a fixed claw is movably arranged on the rotating shaft, a sliding sleeve is sleeved on the outer side of the extension rod, a sliding block is arranged in the sliding sleeve, a sliding groove is arranged on the extension rod corresponding to the sliding block, a plurality of crank arms cooperating with the fixed claw are rotatably arranged at the lower end of the sliding sleeve, the other end of the crank arm is rotatably connected to the fixed claw, and a lifting mechanism for driving the sliding sleeve is arranged on the arc-shaped cover body.

7. The transmission line foreign matter removal device based on a drone as claimed in claim 6, characterized in that: The lifting mechanism comprises a second telescopic mechanism arranged on the arc-shaped cover body and parallel to the extension rod, and the upper end of the second telescopic mechanism is connected to the sliding sleeve through a connecting rod.

8. The transmission line foreign matter removal device based on a drone as claimed in claim 7, characterized in that: The first telescopic mechanism and the second telescopic mechanism are connected to the second stepper motor via a connecting line. The second stepper motor is arranged inside the drone and connected to the control device. The control device controls the lifting and lowering of the lifting mechanism by controlling the second stepper motor.

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