A relay charging platform for substation inspection drones

Abstract

The present application relates to the technical field of drone charging platforms, and discloses a relay charging platform for substation inspection drones, including a platform body, which is arranged on the ground; a helipad, which is arranged on the top of the platform body and is used to charge drones; a power supply system, which includes a driving device, a power transmission device and a power generation device, the power generation device is arranged on the top of the platform body, the driving device is arranged on the platform body, the driving device is located below the power generation device, the driving device is electrically connected to the power supply system, and the power transmission device is connected to the power generation device and the driving device; the power generation device is used to provide power for the helipad, the driving device is used to drive the power generation device to generate power, and the power transmission device is used to transfer the power generated by the driving device to the power generation device. This substation inspection drone relay charging platform solves the problem of damage to the power supply system of the cabin after the cabin is struck by lightning.

Description

Technical Field

[0001] The present application relates to the technical field of drone charging platforms, and specifically to a substation inspection drone relay charging platform. Background Art

[0002] Live detection of electrical equipment in substations is developing in a multi-dimensional, refined, automated and intelligent direction. In this context, drone inspection technology for live detection of electrical equipment in substations has received widespread attention and has begun to be put into practical use. Judging from the operational characteristics of drone inspection of electrical equipment in substations, at present and in the future, the inspection drones used for live detection of electrical equipment in substations are multi-rotor drones. Multi-rotor drones are characterized by low speed, strong controllability but short flight time, and are suitable for working in the air above outdoor substations. However, due to the short flight time, when performing an inspection task with many inspection points, it is necessary to return to the cabin to charge after a short period of operation (such as half an hour), and then fly to the operating airspace to continue to perform the rest of the same inspection task.

[0003] In fact, drone inspection for live detection of substation electrical equipment is an intermittent inspection mode, such as a routine inspection covering all scheduled inspection points every 4 hours, or performing an inspection task for designated inspection points according to actual needs. Therefore, setting the cabin at the center of the substation can improve the efficiency of the inspection. Since the takeoff and landing of multi-rotor drones must avoid the electrical equipment of the substation, the cabin is usually set on a high platform to avoid the electrical equipment of the substation. However, the cabin set on the high platform is prone to lightning strikes, which will damage the power supply system of the cabin and affect the substation equipment. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present application provides a substation inspection drone relay charging platform, which solves the problem that the power supply system of the cabin set on a high platform is damaged after being struck by lightning.

[0005] To achieve the above purpose, the present application provides the following technical solutions: a substation inspection drone relay charging platform, comprising:

[0006] A platform body, wherein the platform body is arranged on the ground;

[0007] A helipad, which is arranged on the top of the platform body and is used to charge the drone;

[0008] A power supply system, the power supply system comprising a driving device, a power transmission device and a power generation device, the power generation device being arranged on the top of the platform body, the driving device being arranged on the platform body, the driving device being located below the power generation device, the driving device being electrically connected to the power supply system, and the power transmission device being connected to the power generation device and the driving device;

[0009] The power generation equipment is used to provide electricity for the apron, the driving equipment is used to drive the power generation equipment to generate electricity, and the power transmission equipment is used to transmit the power generated by the driving equipment to the power generation equipment and to isolate the driving equipment and the power generation equipment.

[0010] Preferably, the driving device includes an electric motor and a lower crankshaft, the power transmission device includes an upper oil cylinder, an upper connecting rod, a lower oil cylinder, a lower connecting rod and an insulating oil pipe, and the power generation device includes a generator and an upper crankshaft;

[0011] The lower crankshaft is fixedly connected to the output shaft of the motor, one end of the lower connecting rod is rotatably connected to the connecting rod journal of the lower crankshaft, and the other end is rotatably connected to the piston of the lower oil cylinder;

[0012] The upper crankshaft is fixedly connected to the input shaft of the generator, one end of the upper connecting rod is rotatably connected to the connecting rod journal of the upper crankshaft, and the other end is rotatably connected to the piston of the upper oil cylinder;

[0013] The insulating oil pipe is connected to the cylinder body of the upper oil cylinder and the cylinder body of the lower oil cylinder. The upper oil cylinder, the lower oil cylinder and the insulating oil pipe are all filled with insulating oil for transmitting power.

[0014] Preferably, the platform body comprises:

[0015] A ground base, the ground base is arranged on the ground, and the driving device is arranged on the ground base;

[0016] A support column, the support column comprising a plurality of insulating sections which are fixedly connected end to end in sequence, and the support column is arranged on a ground base;

[0017] The aerial platform is arranged on the top of the pillar, and the helipad is arranged on the aerial platform.

[0018] Preferably, the platform body further includes:

[0019] A lower machine room, the lower machine room is arranged on the ground base, and the lower machine room is used to accommodate equipment installed on the ground base;

[0020] The upper machine room is arranged on the aerial platform, and the upper machine room is used to accommodate the equipment installed on the aerial platform.

[0021] Preferably, a steel plate, threaded steel bars and a flat iron are buried in the ground base, the threaded steel bars and the flat iron both penetrate the steel plate, one end of the flat iron extends out of the bottom of the ground base and is fixedly connected to the substation ground grid, and the other end of the flat iron extends out of the top of the ground base and is connected to the lower machine room.

[0022] Preferably, it also includes a platform monitoring system, and the platform monitoring system includes:

[0023] An upper computer room monitoring terminal, which is arranged in the upper computer room and is used to monitor the status of equipment in the upper computer room;

[0024] The lower machine room monitoring terminal is arranged in the lower machine room, the lower machine room monitoring terminal is electrically connected to the upper machine room monitoring terminal, and the lower machine room monitoring terminal is used to monitor the equipment status in the lower machine room, data communication with the upper machine room monitoring terminal and communication with the substation monitoring center.

[0025] Preferably, the lower machine room monitoring terminal comprises a microprocessor, an analog quantity acquisition module, a switch quantity acquisition module, a wireless communication module, a network interface, a human-machine interface and several communication interfaces, the analog quantity acquisition module, the switch quantity acquisition module, the network interface, the human-machine interface and several communication interfaces are electrically connected to the microprocessor respectively, the wireless communication module is electrically connected to one of the communication interfaces, and the analog quantity acquisition module and the switch quantity acquisition module are both electrically connected to the drive device;

[0026] The analog quantity acquisition module and the switch quantity acquisition module are used to collect the operating status of the driving device, the wireless communication module is used to realize the communication between the microprocessor and the upper computer room terminal, the network interface is used to connect to the substation monitoring center, and the communication interface is used to realize the electrical connection between the wireless communication module and the microprocessor.

[0027] Preferably, the upper computer room monitoring terminal comprises a microprocessor, an analog quantity acquisition module, a switch quantity acquisition module, a wireless communication module, a human-machine interface and several communication interfaces, the analog quantity acquisition module, the switch quantity acquisition module, the network interface, the human-machine interface and several communication interfaces are electrically connected to the microprocessor respectively, the wireless communication module is electrically connected to one of the communication interfaces, and the analog quantity acquisition module and the switch quantity acquisition module are both electrically connected to the power generation equipment;

[0028] The analog quantity acquisition module and the switch quantity acquisition module are used to collect the operating status of the power generation equipment, the wireless communication module is used to realize the communication between the microprocessor and the lower machine room terminal, and one of the communication interfaces is used to realize the electrical connection between the wireless communication module and the microprocessor.

[0029] Preferably, a fixing device for fixing the drone is provided on the apron, and the fixing device comprises:

[0030] A binding mechanism, the binding mechanism is arranged on the apron, and the binding mechanism is used to fix the UAV;

[0031] A binding control mechanism, wherein the binding control mechanism is arranged on the platform body, and the binding control mechanism is used to control the binding mechanism to fix or release the drone.

[0032] Preferably, the bundling mechanism includes a bundling rope, a plurality of elastic members and a plurality of rope threading noses, the plurality of rope threading noses are spaced apart circumferentially along the apron, the plurality of elastic members are also spaced apart circumferentially along the apron, one elastic member is connected to the apron and one of the rope threading noses, the elastic member is used to provide a force for the rope threading nose to move away from the center of the apron, the rope threading nose has an upper rope threading hole and a lower rope threading hole, one end of the bundling rope passes through the upper rope threading holes of all the rope threading noses in sequence, and passes through the lower rope threading holes of all the rope threading noses in sequence, and both ends of the bundling rope are fixedly connected to the bundling control mechanism.

[0033] Preferably, the bundling control mechanism includes a limit detection sensor, a servo motor, a winding roller, a bundling system controller and a plurality of metal rings, wherein the plurality of metal rings are fixedly mounted on the bundling rope, the winding roller is mounted on the output shaft of the servo motor, the limit detection sensor is used to sense the metal rings, the bundling rope is fixedly connected to the winding roller, the servo motor and the limit detection sensor are electrically connected to the bundling system controller, and the bundling system controller is used to receive signals from the limit detection sensor and control the start and stop of the servo motor.

[0034] Preferably, it also includes a UAV landing guidance system, which includes a guidance system controller and a plurality of signal transmitters and receivers, the signal transmitters and receivers are used to receive and transmit ultrasonic signals and infrared light signals, the plurality of signal transmitters are electrically connected to the guidance system controller, the plurality of signal transmitters are respectively arranged at different positions of the apron, and the UAV is also provided with an infrared signal device for receiving and transmitting infrared light signals.

[0035] This application provides a substation inspection drone relay charging platform, which has the following beneficial effects:

[0036] The substation inspection drone relay charging platform is equipped with a high-strength insulation power supply system to separate the driving device connected to the substation power supply system from the power generation equipment, and transmits the power generated by the driving device to the power generation equipment through the power transmission equipment, so that the power generation equipment can supply power to various equipment required at the apron. This can effectively prevent the high voltage generated by lightning striking the apron and apron-related equipment, or the induced high voltage generated by lightning striking the substation facilities near the platform from being connected to the substation station AC power supply system, thereby solving the problem of damage to the power supply system of the cabin set on the high platform after being struck by lightning. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0039] Figure 2 This is a schematic diagram of the internal structure of the platform body in the embodiment of the present application.

[0040] Figure 3 It is a schematic diagram of the structure of the reinforcing bracket in the embodiment of the present application.

[0041] Figure 4 It is a schematic diagram of the structure of the aerial platform in the embodiment of the present application.

[0042] Figure 5 It is a schematic diagram of the structure of the apron in the embodiment of the present application.

[0043] Figure 6 It is a schematic diagram of the structure of the power supply system in the embodiment of the present application.

[0044] Figure 7 It is a structural schematic diagram of the lower computer room monitoring terminal in the embodiment of the present application.

[0045] Figure 8 This is a schematic diagram of the structure of the upper computer room monitoring terminal in the embodiment of the present application.

[0046] Fig. 9 It is a schematic diagram of a part of the structure of the fixing device in the embodiment of the present application.

[0047] Fig.10 This is a top view of the apron in an embodiment of the present application.

[0048] Fig.11 This is a schematic diagram of the structure of the UAV landing guidance system in the embodiment of the present application.

[0049] In the figure: 1. Platform body; 11. Ground base; 111. Steel plate; 112. Threaded steel bar; 113. Flat iron; 12. Aerial platform; 121. Support plate; 122. Support column; 123. Support plate; 124. Fixing plate; 13. Strengthening bracket; 131. Connecting plate; 132. Connecting rib net; 14. Lower machine room; 15. Upper machine room; 16. Pillar; 2. Helipad; 21. Drain hole; 22. Wireless charging plate; 3. Power supply system; 31. Generator; 32. Upper crankshaft; 33. Electric motor; 34. Lower crankshaft; 35. Upper cylinder; 36. Upper Connecting rod; 37, lower oil cylinder; 38, lower connecting rod; 39, insulating oil pipe; 4, platform monitoring system; 5, UAV landing guidance system; 51, signal transmitter and receiver; 52, guidance system controller; 6, fixing device; 61, support frame; 62, binding rope; 63, connecting ring; 64, rope nose; 641, upper rope hole; 642, lower rope hole; 65, elastic part; 66, lower rope guide tube; 67, upper rope guide tube; 68, double-axis extension servo motor; 69, binding system controller; 610, winding roller; 611, limit detection sensor; 612, metal ring. DETAILED DESCRIPTION

[0050] In order to make the purpose, features, and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] The following is combined with Figure 1 -Attached Fig.11 The technical solution of this application is further illustrated through specific implementation methods.

[0053] The present application provides a technical solution: a substation inspection drone relay charging platform includes a platform body 1, a helipad 2, a power supply system 3, a platform monitoring system 4, a drone landing guidance system 5 and a fixing device 6.

[0054] See also Figure 1 The platform body 1 is used to carry the helipad 2 and provide support for the power supply system 3, the platform monitoring system 4, the UAV landing guidance system 5 and the fixing device 6. The platform body 1 includes a ground base 11, an aerial platform 12, a reinforcement bracket 13, a lower machine room 14, an upper machine room 15 and a plurality of pillars 16. The platform body 1 is fixedly connected in sequence from bottom to top in the order of the ground base 11, the plurality of pillars 16, the reinforcement bracket 13, the plurality of pillars 16 and the aerial platform 12. The lower machine room 14 is arranged on the ground base 11, and the upper machine room 15 is arranged on the aerial platform 12.

[0055] See also Figure 1 and Figure 2 The ground base 11 is fixedly arranged on the ground. In this embodiment, the ground base 11 is cast with high-strength concrete. Several steel plates 111, several threaded steel bars 112 and several flat irons 113 are buried in the ground base 11. Several steel plates 111 are arranged horizontally, several threaded steel bars 112 and several flat irons 113 are arranged in the vertical direction, and each threaded steel bar 112 is fixedly connected to all steel plates 111. Each flat iron 113 penetrates all steel plates 111 in the vertical direction. One end of the flat iron 113 extends out of the bottom of the ground base 11 and is fixedly connected to the substation ground grid, and the other end extends out of the top of the ground base 11 and is connected to the lower machine room 14. By arranging the steel plate 111, the threaded steel bar 112 and the flat iron 113 in the ground base 11, the equipment in the lower machine room 14 can maintain good grounding, which can reduce the damage to the power supply system 3 of the cabin on the aerial platform 12 after being struck by lightning.

[0056] See also Figure 1 and Figure 3The pillars 16 are used to provide support for the aerial platform 12, and the reinforcing brackets 13 improve the stability of the pillars 16. In this embodiment, the number of pillars 16 is set to eight, of which four pillars 16 are erected on the ground base 11, and the four pillars 16 are respectively located at the four corners of the ground base 11, and the four pillars 16 are fixedly connected to the ground base 11 by bolts. The reinforcing bracket 13 is arranged on the top of the four pillars 16, and the reinforcing bracket 13 includes four connecting plates 131 respectively located at the four corners of the reinforcing bracket 13 and a connecting rib net 132 for connecting the four connecting plates 131. The connecting plate 131 is provided with a through hole for bolting with the pillars 16. Another four pillars 16 are arranged on the top of the reinforcing bracket 13, and the connection between the reinforcing bracket 13 and the pillars 16 is fixedly connected by bolts, and the pillars 16 located at the top of the reinforcing bracket 13 and the pillars 16 located at the bottom of the reinforcing bracket 13 are arranged one by one. In this embodiment, each support 16 is composed of a plurality of ceramic insulating joints connected in series to form physical insulation, thereby reducing the possibility of damage to the power supply system 3 of the cabin on the aerial platform 12 after being struck by lightning.

[0057] See also Figure 1 and Figure 4 The aerial platform 12 is used to provide support for the apron 2. The aerial platform 12 includes a support plate 121, six support columns 122, six support disks 123 and four fixed plates 124. The four fixed plates 124 are respectively located at the four corner edges of the support plate 121. The fixed plate 124 is provided with through holes for threaded connection with the support columns 122. The six support columns 122 are all fixedly connected to the top of the support plate 121. The six support columns 122 are arranged in a central circular array of the support plate 121. Each support disk 123 is respectively fixedly connected to the top of a support column 122, and each support plate 121 is provided with a plurality of through holes for fixed connection with the apron 2. The arrangement of the support columns 122 and the support disks 123 facilitates the installation of the apron 2.

[0058] See also Figure 1 and Figure 5 The apron 2 is used to charge the drone. The apron 2 is fixedly installed on the support plate 123 of the aerial platform 12. The apron 2 is set in a disc shape. The top of the apron 2 is provided with a receiving groove for accommodating the drone. The bottom of the receiving groove is fixedly connected with a wireless charging plate 22 for charging the drone. By charging the drone in the receiving groove, the impact of high-altitude wind on the drone during charging can be reduced. The groove body of the receiving groove is provided with a drainage hole 21, which is used to discharge rainwater accumulated in the receiving groove.

[0059] See also Figure 6The power supply system 3 includes a driving device, a power transmission device and a power generation device. The power generation device is arranged in the upper machine room 15, the driving device is arranged in the lower machine room 14, and the power transmission device is connected to the power generation device and the driving device. Specifically, the power generation device includes a generator 31 and an upper crankshaft 32, the driving device includes a motor 33 and a lower crankshaft 34, and the power transmission device includes an upper oil cylinder 35, an upper connecting rod 36, a lower oil cylinder 37, a lower connecting rod 38 and an insulating oil pipe 39.

[0060] The motor 33 and the lower oil cylinder 37 are both fixedly installed in the lower machine room 14, the lower crankshaft 34 is fixedly connected to the output shaft of the motor 33, and the lower crankshaft 34 is rotatably arranged in the lower machine room 14, so that the lower crankshaft 34 can rotate with the rotation of the output shaft of the motor 33, one end of the lower connecting rod 38 is connected to the connecting rod journal bearing of the lower crankshaft 34, and the other end is rotatably connected to the piston of the lower oil cylinder 37, so that the rotation of the output shaft of the motor 33 can drive the piston of the lower oil cylinder 37 to move periodically;

[0061] The generator 31 and the upper oil cylinder 35 are both fixedly arranged in the upper machine room 15, the upper crankshaft 32 is fixedly connected to the input shaft of the generator 31, and the upper crankshaft 32 is rotatably arranged in the upper machine room 15, so that the rotation of the upper crankshaft 32 can drive the input shaft of the generator 31 to rotate, one end of the upper connecting rod 36 is connected to the connecting rod journal bearing of the upper crankshaft 32, and the other end is rotatably connected to the piston of the upper oil cylinder 35, so that the piston movement of the upper oil cylinder 35 can drive the input shaft of the generator 31 to rotate;

[0062] The insulating oil pipe 39 is connected to the cylinder body of the upper oil cylinder 35 and the cylinder body of the lower oil cylinder 37. The upper oil cylinder 35, the lower oil cylinder 37 and the insulating oil pipe 39 are all filled with insulating oil for transmitting power. The insulating oil is incompressible and insulated. The setting of the insulating oil pipe 39 and the insulating oil makes it possible that when the motor 33 drives the piston of the lower oil cylinder 37 to perform piston movement, the amount of insulating oil in the lower oil cylinder 37 increases and decreases periodically, so that the insulating oil in the upper oil cylinder 35 decreases and increases accordingly, thereby realizing the piston movement of the piston of the upper oil cylinder 35, thereby realizing the rotation of the input shaft of the generator 31, so that the generator 31 can provide power for the equipment in the upper machine room 15.

[0063] By separating the driving device connected to the substation power supply system from the power generation equipment, and transmitting the power generated by the driving device to the power generation equipment through the power transmission equipment, so that the power generation equipment can supply power to various equipment required at the apron 2, it is possible to effectively prevent the high voltage generated by lightning striking the apron 2 and the equipment related to the apron 2, or the induced high voltage generated by the substation facilities when lightning strikes the substation facilities near the platform from being connected to the AC power supply system of the substation, thereby solving the problem of damage to the power supply system 3 of the cabin set on the high platform after being struck by lightning.

[0064] See also Figure 7 and Figure 8 The platform monitoring system 4 is used to monitor the operating status of the equipment on the platform and issue control instructions to the equipment on the platform. The platform monitoring system 4 includes an upper computer room monitoring terminal and a lower computer room monitoring terminal. The upper computer room monitoring terminal is arranged in the upper computer room 15, and the upper computer room monitoring terminal is used to monitor the equipment status in the upper computer room 15; the lower computer room monitoring terminal is arranged in the lower computer room 14, and the lower computer room monitoring terminal is used to monitor the equipment status in the lower computer room 14, communicate with the upper computer room monitoring terminal, and communicate with the substation monitoring center.

[0065] The lower machine room monitoring terminal includes a microprocessor, an analog quantity acquisition module, a switch quantity acquisition module, a wireless communication module, an RJ45 network interface, a human-machine interface and two RS485 communication interfaces. The analog quantity acquisition module, the switch quantity acquisition module, the network interface, the human-machine interface and the two communication interfaces are electrically connected to the microprocessor respectively, the wireless communication module is electrically connected to one of the RS485 communication interfaces, and the other RS485 communication interface is reserved for backup. The analog quantity acquisition module and the switch quantity acquisition module are both electrically connected to the drive device; the analog quantity acquisition module and the switch quantity acquisition module are used to acquire the operating status of the drive device, the wireless communication module is used to realize the communication between the microprocessor and the upper machine room 15 terminal, the RJ45 network interface is used to connect to the substation monitoring center, and the RS485 communication interface is used to realize the electrical connection between the wireless communication module and the microprocessor.

[0066] The upper machine room monitoring terminal includes a microprocessor, an analog quantity acquisition module, a switch quantity acquisition module, a wireless communication module, a human-machine interface and three RS485 communication interfaces. The analog quantity acquisition module, the switch quantity acquisition module, the network interface, the human-machine interface and several RS485 communication interfaces are electrically connected to the microprocessor respectively, the wireless communication module is electrically connected to one of the RS485 communication interfaces, and the analog quantity acquisition module and the switch quantity acquisition module are both electrically connected to the power generation equipment; the analog quantity acquisition module and the switch quantity acquisition module are used to collect the operating status of the power generation equipment, the wireless communication module is used to realize the communication between the microprocessor and the lower machine room 14 terminal, one of the RS485 communication interfaces is used to realize the electrical connection between the wireless communication module and the microprocessor, the second RS485 communication interface is used to be electrically connected to the UAV landing guidance system 5, and the third RS485 communication interface is used to be electrically connected to the fixing device 6. By electrically connecting the upper machine room monitoring terminal and the lower machine room monitoring terminal through the wireless communication module, the occurrence of high voltage entering from the channel after the apron 2 is struck by lightning is avoided.

[0067] See also Fig. 9 and Fig.10The fixing device 6 is used to fix the UAV to improve the stability of the UAV when it is grounded. The fixing device 6 includes a binding mechanism and a binding monitoring mechanism. The binding mechanism is arranged on the apron 2 and is used to fix the UAV. The binding control mechanism is arranged on the platform body 1. The binding control mechanism is used to control the binding mechanism to fix or release the UAV.

[0068] The binding mechanism includes a support frame 61, a binding rope 62, eight connecting rings 63, eight rope-threading noses 64 and sixteen elastic members 65. In this embodiment, the elastic member 65 is a spring. The support frame 61 is a regular octagonal frame. The support frame 61 is accommodated in the receiving groove, and each vertex of the support frame 61 is fixedly connected to the groove wall of the receiving groove. Each connecting ring 63 is correspondingly connected to the inner side of a vertex of the support frame 61, and each connecting ring 63 is connected to two springs. The eight rope-threading noses 64 are arranged at equal intervals along the circumference of the receiving groove, and each rope-threading nose 64 is connected to two springs located at two adjacent vertex corners of the support frame 61, so that each rope-threading nose 64 has a tendency to move away from the center of the apron 2 under the combined force of the two springs. The rope nose 64 has an upper rope threading hole 641 and a lower rope threading hole 642. One end of the tying rope 62 passes through the upper rope threading holes 641 of the eight rope threading noses 64 in sequence, and then passes through the lower rope threading holes 642 of the eight rope threading noses 64 in the same order, so that the tying rope 62 forms a tying loop for tying the drone. Two through holes are provided on the groove wall of the accommodating groove, one of which is fixedly connected to an upper rope guide tube 67, and the other is provided with a lower rope guide tube 66. The provision of the upper rope guide tube 67 and the lower rope guide tube 66 facilitates the two ends of the tying rope 62 to extend from the accommodating groove and be connected to the tying control mechanism in the upper machine room 15.

[0069] The binding control mechanism includes a double-axle extension servo motor 68, a binding system controller 69, two winding rollers 610, two limit detection sensors 611 and four metal rings 612. The double-axle extension servo motor 68 is arranged in the upper machine room 15. The two winding rollers 610 are respectively fixedly sleeved on the two ends of the output shaft of the double-axle extension servo motor 68. One end of the binding rope 62 is fixedly connected to one winding roller 610, and the other end of the binding rope 62 is fixedly connected to the other winding roller 610, so that the rotation of the output shaft can release or tighten the binding rope 62. The four metal rings 612 are all fixedly sleeved on the binding rope 62, wherein two metal rings 612 are respectively arranged at positions close to the ends of the two ends of the binding rope 62 to serve as loose limit signal rings, and the other two metal rings 612 are respectively arranged at positions relatively far away from the ends of the two ends of the binding rope 62 to serve as tight limit signal rings. The two limit detection sensors 611 are used to detect the metal rings 612 at both ends of the binding rope 62 respectively. The two limit detection sensors 611 and the double-axis servo motor 68 are electrically connected to the binding system controller 69, and the binding system controller 69 is electrically connected to an RS485 communication interface of the upper machine room monitoring terminal.

[0070] When the UAV lands on the apron 2 and needs to be charged, the upper machine room monitoring terminal sends a "binding" signal to the binding system controller 69, and then the binding system controller 69 sends a forward rotation signal to the double-axis extension motor. After the double-axis extension motor receives the signal, the output shaft rotates forward, so that the binding rope 62 is wound around the winding roller 610, and the rope nose 64 moves toward the center of the apron 2 under the action of the binding rope 62, so that the size of the binding circle continues to decrease until both limit sensors detect the tight limit metal ring 612. The binding system controller 69 sends a stop rotation signal to the double-axis extension motor. After the double-axis extension motor receives the signal, the output shaft stops rotating, and the binding rope 62 binds the UAV tightly.

[0071] When the UAV needs to take off, the upper machine room monitoring terminal sends a "loosen" signal to the binding system controller 69, and then the binding system controller 69 sends a reverse rotation signal to the double-axis extension motor. After the double-axis extension motor receives the signal, the output shaft rotates in the opposite direction, causing the binding rope 62 to gradually loosen from the winding roller 610, and the rope nose 64 moves away from the center of the apron 2 under the action of the spring, so that the size of the binding circle continues to increase until both limit sensors detect the loose limit metal ring 612. The binding system controller 69 sends a stop rotation signal to the double-axis extension motor. After the double-axis extension motor receives the signal, the output shaft stops rotating, and the binding rope 62 loosens the UAV, allowing the UAV to take off normally.

[0072] See also Fig.11 The UAV landing guidance system 5 is used to automatically guide the UAV to land, so as to make the inspection process of the UAV more intelligent. The UAV landing guidance system 5 includes a guidance system controller 52 and eight signal transmitters and receivers 51. The signal transmitters and receivers 51 are used to receive and transmit signals. The signals that the signal transmitters and receivers 51 can receive and transmit include ultrasonic signals and infrared light signals. The eight signal transmitters are all electrically connected to the guidance system controller 52. The eight signal transmitters are all fixedly installed on the top of the apron 2, and the eight signal transmitters are arranged at equal intervals along the circumference of the apron 2. The UAV is also provided with an infrared signaler for receiving and transmitting infrared light signals. The guidance system controller 52 is electrically connected to an RS485 communication interface of the upper machine room monitoring terminal.

[0073] The eight signal transmitters and receivers 51 are marked as TRS1 to TRS8 respectively. When the guidance system controller 52 receives the landing signal sent by the upper machine room monitoring terminal, the guidance system controller 52 controls TRS1 to TRS8 one by one in a certain sequence (such as TRS1, TRS5, TRS3, TRS7, TRS2, TRS6, TRS4, ​​TRS8) to transmit ultrasonic signals and receive ultrasonic signals reflected by the multi-rotor drone. The ultrasonic radar ranging principle is used to calculate the position of the multi-rotor drone requesting to land in the air above the high-altitude helipad 2, and then the position information is sent to the above-mentioned multi-rotor drone by the infrared light signal transmitters of TRS1 to TRS8. Then, the multi-rotor drone requesting to land adjusts its own position according to the received position information. After repeating the above process many times, the drone landing guidance system 5 guides the drone requesting to land to just above the center of the high-altitude helipad 2, and the drone can vertically descend and land at the center of the high-altitude helipad 2.

[0074] 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.

[0075] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

[0076] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A substation inspection drone relay charging platform, characterized in that: include: A platform body (1), wherein the platform body (1) is arranged on the ground; A helipad (2), the helipad (2) being arranged on the top of the platform body (1), and the helipad (2) being used for charging the drone; A power supply system (3), the power supply system (3) comprising a driving device, a power transmission device and a power generation device, the power generation device being arranged on the top of the platform body (1), the driving device being arranged on the platform body (1), the driving device being located below the power generation device, the driving device being electrically connected to the power supply system, and the power transmission device being connected to the power generation device and the driving device; The power generation device is used to provide electricity for the apron (2), the driving device is used to drive the power generation device to generate electricity, and the power transmission device is used to transmit the power generated by the driving device to the power generation device and to isolate the driving device and the power generation device; The driving device comprises an electric motor (33) and a lower crankshaft (34); the power transmission device comprises an upper oil cylinder (35), an upper connecting rod (36), a lower oil cylinder (37), a lower connecting rod (38) and an insulating oil pipe (39); and the power generation device comprises a generator (31) and an upper crankshaft (32); The lower crankshaft (34) is fixedly connected to the output shaft of the motor (33); one end of the lower connecting rod (38) is rotatably connected to the connecting rod journal of the lower crankshaft (34), and the other end is movably connected to the piston of the lower oil cylinder (37); The upper crankshaft (32) is fixedly connected to the input shaft of the generator (31); one end of the upper connecting rod (36) is rotatably connected to the connecting rod journal of the upper crankshaft (32), and the other end is movably connected to the piston of the upper oil cylinder (35); The insulating oil pipe (39) is connected to the cylinder body of the upper oil cylinder (35) and the cylinder body of the lower oil cylinder (37); the upper oil cylinder (35), the lower oil cylinder (37) and the insulating oil pipe (39) are all filled with insulating oil for transmitting power.

2. A substation inspection drone relay charging platform according to claim 1, characterized in that: The platform body (1) comprises: A ground base (11), the ground base (11) being arranged on the ground, and the driving device being arranged on the ground base (11); A support (16), the support (16) comprising a plurality of insulating joints which are fixedly connected end to end in sequence, and the support (16) is arranged on a ground base (11); An aerial platform (12), wherein the aerial platform (12) is arranged on the top of a support column (16), and the helipad (2) is arranged on the aerial platform (12).

3. A substation inspection drone relay charging platform according to claim 2, characterized in that: The platform body (1) further comprises: A lower machine room (14), the lower machine room (14) being arranged on the ground base (11), the lower machine room (14) being used to accommodate equipment installed on the ground base (11); An upper machine room (15), the upper machine room (15) is arranged on the aerial platform (12), and the upper machine room (15) is used to accommodate equipment installed on the aerial platform (12).

4. A substation inspection drone relay charging platform according to claim 3, characterized in that: A steel plate (111), a threaded steel bar (112) and a flat iron (113) are embedded in the ground base (11); the threaded steel bar (112) and the flat iron (113) both penetrate the steel plate (111); one end of the flat iron (113) extends out of the bottom of the ground base (11) and is fixedly connected to the transformer substation ground grid; the other end of the flat iron (113) extends out of the top of the ground base (11) and is connected to the lower machine room (14).

5. The substation inspection drone relay charging platform according to claim 3 is characterized in that: The system also includes a platform monitoring system (4), wherein the platform monitoring system (4) includes: An upper computer room monitoring terminal, the upper computer room monitoring terminal being arranged in the upper computer room (15), and the upper computer room monitoring terminal being used to monitor the status of equipment in the upper computer room (15); A lower machine room monitoring terminal, the lower machine room monitoring terminal is arranged in the lower machine room (14), the lower machine room monitoring terminal is electrically connected to the upper machine room monitoring terminal, the lower machine room monitoring terminal is used to monitor the equipment status in the lower machine room (14), communicate data with the upper machine room monitoring terminal, and communicate with the substation monitoring center.

6. A substation inspection drone relay charging platform according to claim 5, characterized in that: The lower machine room monitoring terminal includes a microprocessor, an analog quantity acquisition module, a switch quantity acquisition module, a wireless communication module, a network interface, a human-machine interface and a plurality of communication interfaces, wherein the analog quantity acquisition module, the switch quantity acquisition module, the network interface, the human-machine interface and the plurality of communication interfaces are electrically connected to the microprocessor respectively, the wireless communication module is electrically connected to one of the communication interfaces, and the analog quantity acquisition module and the switch quantity acquisition module are both electrically connected to the drive device; The analog quantity acquisition module and the switch quantity acquisition module are used to acquire the operating status of the drive device, the wireless communication module is used to realize the communication between the microprocessor and the upper machine room (15) terminal, the network interface is used to connect to the substation monitoring center, and the communication interface is used to realize the electrical connection between the wireless communication module and the microprocessor.

7. A substation inspection drone relay charging platform according to claim 5, characterized in that: The upper computer room monitoring terminal includes a microprocessor, an analog quantity acquisition module, a switch quantity acquisition module, a wireless communication module, a human-machine interface and a plurality of communication interfaces, wherein the analog quantity acquisition module, the switch quantity acquisition module, the network interface, the human-machine interface and the plurality of communication interfaces are electrically connected to the microprocessor respectively, the wireless communication module is electrically connected to one of the communication interfaces, and the analog quantity acquisition module and the switch quantity acquisition module are both electrically connected to the power generation equipment; The analog quantity acquisition module and the switch quantity acquisition module are used to acquire the operating status of the power generation equipment, the wireless communication module is used to realize the communication between the microprocessor and the terminal of the lower machine room (14), and one of the communication interfaces is used to realize the electrical connection between the wireless communication module and the microprocessor.

8. The substation inspection drone relay charging platform according to claim 1 is characterized in that: It also includes a fixing device (6) for fixing the drone, the fixing device (6) comprising: A binding mechanism, the binding mechanism is arranged on the apron (2), and the binding mechanism is used to fix the drone; A binding control mechanism, wherein the binding control mechanism is arranged on the platform body (1), and the binding control mechanism is used to control the binding mechanism to fix or release the drone.

9. A substation inspection drone relay charging platform according to claim 8, characterized in that: The binding mechanism comprises a binding rope (62), a plurality of elastic members (65) and a plurality of rope-threading noses (64). The plurality of rope-threading noses (64) are arranged at intervals along the circumference of the apron (2). The plurality of elastic members (65) are also arranged at intervals along the circumference of the apron (2). The elastic members (65) are connected to the apron (2) and the rope-threading noses (64). The elastic members (65) are used to provide a force for the rope-threading noses (64) to move away from the center of the apron (2). The rope-threading noses (64) have an upper rope-threading hole (641) and a lower rope-threading hole (642). One end of the binding rope (62) passes through the upper rope-threading holes (641) of all the rope-threading noses (64) in sequence, and passes through the lower rope-threading holes (642) of all the rope-threading noses (64) in the same order. Both ends of the binding rope (62) are fixedly connected to the binding control mechanism.

10. A substation inspection drone relay charging platform according to claim 9, characterized in that: The binding control mechanism comprises a limit detection sensor (611), a servo motor, a winding roller (610), a binding system controller (69) and a plurality of metal rings (612). The plurality of metal rings (612) are fixedly sleeved on the binding rope (62). The winding roller (610) is sleeved on the output shaft of the servo motor. The limit detection sensor (611) is used to sense the metal ring (612). The binding rope (62) is fixedly connected to the winding roller (610). The servo motor and the limit detection sensor (611) are electrically connected to the binding system controller (69). The binding system controller (69) is used to receive signals from the limit detection sensor (611) and control the start and stop of the servo motor.

11. The substation inspection drone relay charging platform according to claim 1, characterized in that: The invention also comprises an unmanned aerial vehicle landing guidance system (5), wherein the unmanned aerial vehicle landing guidance system (5) comprises a guidance system controller (52) and a plurality of signal transmitters and receivers (51), wherein the signal transmitters and receivers (51) are used to receive and transmit signals, and the plurality of signal transmitters and receivers (51) are all electrically connected to the guidance system controller (52), and the plurality of signal transmitters and receivers (51) are respectively arranged at different positions of the apron (2), and an infrared signal device for receiving and transmitting signals is also arranged on the unmanned aerial vehicle.

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