A power line inspection system and communication method

Abstract

The application discloses a power line inspection system and a communication method, wherein the system is provided with an inspection aircraft, a self-adaptive clamping component, an aircraft self-checking module, a fault aircraft positioning module and an inspection distribution control terminal; the fault aircraft positioning module is used for analyzing the fault occurrence position and the fault occurrence state of the inspection aircraft, screening and adjusting at least one inspection aircraft in the distribution area of the power line to position the fault aircraft and detect the power line which is not detected by the corresponding fault aircraft. The application timely analyzes the fault occurrence position and the fault occurrence state of the inspection aircraft, adjusts at least one inspection aircraft in the distribution area of the power line to position the fault aircraft and detect the power line which is not detected by the corresponding fault aircraft, timely replaces the aircraft for power inspection when the inspection aircraft fails, timely processes the fault aircraft, avoids the loss of the fault aircraft and ensures the timely power inspection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power inspection, in particular to a power line inspection system and a communication method. BACKGROUND

[0002] The power line is usually arranged in the wild, and the power line inspection needs the line inspection personnel to go to the scene for inspection to check whether there is an abnormality on the line, and the inspection process is done periodically, sometimes needs to be inspected according to the climate, and after some severe weather, the power line also needs to be inspected at a suitable time period to find hidden dangers in time.

[0003] The power line inspection is usually carried out by manual, in order to improve the inspection efficiency and the inspection safety, the existing inspection instrument is used for inspection, such as the inspection mode of the aircraft, the ground inspection vehicle and the like, to replace the manual inspection, but the inspection instrument is used in the wild during the inspection process, is easy to be affected by the environmental factors, and the long time use of the inspection instrument can cause the inspection instrument to fail during the inspection process, so that the inspection instrument cannot normally operate or communicate, the inspection instrument cannot be inspected and returned according to the specified route, causes the loss, and the inspection process cannot be carried out in time.

[0004] Therefore, the instrument inspection technology of the prior art cannot cope with the failure of the inspection instrument during the inspection process, causing the problem that the inspection instrument cannot be recovered and the inspection work cannot be carried out on schedule. SUMMARY

[0005] Therefore, the present application provides a power line inspection system and a communication method, which effectively solves the problem that the instrument inspection technology of the prior art cannot cope with the failure of the inspection instrument during the inspection process, causing the problem that the inspection instrument cannot be recovered and the inspection work cannot be carried out on schedule.

[0006] In order to solve the above technical problems, the present application specifically provides the following technical scheme: a power line inspection system, comprising:

[0007] A plurality of inspection aircrafts are arranged, and the inspection aircrafts are used to inspect the power line according to the power inspection route in the power line distribution area;

[0008] An adaptive clamping component is arranged on the inspection aircraft, and the adaptive clamping component is used to adjust the angle according to the inclination angle of the power line to temporarily fix the inspection aircraft on the power line for power line detection;

[0009] An aircraft self-checking module is electrically connected with the inspection aircraft, and the aircraft self-checking module is used to monitor the running state of the inspection aircraft in real time, send the self-checking report in real time, check the sending situation of the self-checking report and analyze the self-checking report to analyze the working state of the inspection aircraft.

[0010] The fault aircraft positioning module is in communication connection with the aircraft self-checking module, and is used for analyzing a fault occurrence position and a fault occurrence state of the inspection aircraft, and screening and gathering at least one inspection aircraft in a power line distribution area according to the fault occurrence state of the inspection aircraft to position the fault aircraft and detect a power line which is not detected by the corresponding fault aircraft;

[0011] The inspection allocation control terminal is in communication connection with the inspection aircraft, the aircraft self-checking module and the fault aircraft positioning module, is used for allocating a corresponding power inspection route to the inspection aircraft according to a power detection point, receives data of the inspection aircraft, and updates the circuit inspection route allocated to the corresponding inspection aircraft according to the fault occurrence state of the inspection aircraft.

[0012] Further, the inspection aircraft comprises an aircraft body, a propeller structure arranged at a side of the aircraft body, and a landing support arranged at a bottom of the aircraft body.

[0013] The bottom of the aircraft body is provided with a propeller cabin, and a transverse driver is arranged in the propeller cabin.

[0014] Further, the self-adaptive clamping component comprises a positioning seat arranged on the aircraft body, a connecting seat arranged at the bottom of the positioning seat, a limiting groove arranged at the bottom of the positioning seat, and a sliding plate slidingly arranged in the limiting groove.

[0015] The aircraft body is fixedly provided with a fixed seat, the connecting seat is rotationally connected to the fixed seat through a connecting rod, the bottom of the sliding plate is rotationally provided with a rotating shaft rod, and the end of the rotating shaft rod is connected with a first driving motor.

[0016] Further, the positioning seat is provided with a mounting groove, a positioning arc plate is rotationally arranged in the mounting groove, the bottom of the positioning arc plate is rotationally connected to the mounting groove through a connecting shaft, a transmission gear is coaxially arranged on the connecting shaft, a gear lifting plate is arranged at the side of the transmission gear, and a lifting cylinder is connected to the bottom of the gear lifting plate.

[0017] A plurality of arc grooves are equidistantly arranged on the inner wall of the positioning arc plate, and an abutting arc plate is connected to the inside of the arc groove through a spring.

[0018] Further, the inner wall of the abutting arc plate is provided with a detection element for detecting a power line.

[0019] The inspection aircraft is internally provided with a detection circuit and a communication unit, the detection element is connected with the communication unit through the detection circuit, the communication unit is used for transmitting detection data to the inspection distribution control terminal, and receiving a power inspection route and a control instruction.

[0020] Further, the aircraft self-checking module comprises a monitoring element, a data sending unit, a data verification unit and a positioning unit.

[0021] The monitoring element is arranged in the inspection aircraft, and the monitoring element is electrically connected with the propeller structure, the transverse driver, the lifting cylinder and the detection circuit, and is used for monitoring the working current and voltage of the propeller structure, the transverse driver, the lifting cylinder and the detection circuit; the data sending unit is in communication connection with the monitoring element, and is used for making an aircraft working state analysis table according to the working current and voltage data, and sending the table to the data verification unit for comparison and verification; and the positioning unit is used for acquiring the position of the inspection aircraft in real time.

[0022] Further, the data verification unit compares and verifies according to the aircraft working state analysis table to analyze the fault structure of the inspection aircraft, and determines that the inspection aircraft is in a data interruption state according to the case that the data verification unit does not receive the aircraft working state analysis table.

[0023] Further, the inspection distribution control terminal comprises a detection input end, a route distribution unit, a data storage library and a control unit.

[0024] The detection input end is used for inputting a power detection point, the route distribution unit is used for distributing a corresponding power inspection route to the inspection aircraft according to the power detection point, and the data storage library is used for storing the detection data of the inspection aircraft and the monitoring data of the detection element and the positioning unit.

[0025] Further, the fault aircraft positioning module comprises a data analysis unit, a data extraction unit and a screening unit.

[0026] The data analysis unit is in communication connection with the data verification unit, and is used for extracting real-time information of the positioning unit and analyzing the fault occurrence location and state of the inspection aircraft according to the verification result of the data verification unit; the data extraction unit extracts the data of the data storage library according to a fault signal and transmits the data to the screening unit.

[0027] The screening unit screens one closest to the patrol aircraft according to the patrol state of the patrol aircraft to locate the fault aircraft, and screens two closest to the patrol aircraft according to the unpatrolled state of the patrol aircraft to locate the fault aircraft and detect the power line which is not detected by the corresponding fault aircraft.

[0028] The route distribution unit updates the circuit inspection route distributed to the corresponding patrol aircraft according to the screening result based on the fault occurrence state of the patrol aircraft, and the control unit sends a stop flying signal to the patrol aircraft according to the fault occurrence state of the patrol aircraft.

[0029] To solve the above technical problems, the present application further provides the following technical solutions: a communication method of a power line inspection system, comprising the following steps,

[0030] Step 100, input power detection points, and distribute power inspection routes to the patrol aircraft according to the power detection points;

[0031] Step 200, the patrol aircraft reaches the power detection points according to the distributed power inspection routes, and is fixed on the power line, and returns to the original route after detection is completed;

[0032] Step 300, real-time monitoring of the operation data of the patrol aircraft, uploading and verification analysis are performed to obtain the working state of the patrol aircraft;

[0033] Step 400, based on the abnormal working state of the patrol aircraft, relevant positioning data and detection data are extracted to analyze the fault occurrence location and the fault occurrence state of the patrol aircraft, and the fault aircraft is urgently braked;

[0034] Step 500, screening and gathering at least one patrol aircraft in the power line distribution area;

[0035] Step 600, updating the circuit inspection route distributed to the corresponding patrol aircraft based on the screening result to complete the positioning of the fault aircraft and the detection of the power line which is not detected by the corresponding fault aircraft.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] (1) The application monitors the operation state of the inspection aircraft in real time and sends a self-checking report in real time, judges the operation failure of the inspection aircraft or communication disconnection in the case of failure in the self-checking report analysis or failure to receive the self-checking report, analyzes the failure occurrence location and failure occurrence state of the inspection aircraft in a timely manner, and adjusts at least one inspection aircraft in the distribution area of the power line to position the failed aircraft and detect the power line which is not detected by the corresponding failed aircraft, so as to replace the aircraft for power inspection in a timely manner when the inspection aircraft fails, and to replace the failed aircraft in a timely manner, avoid the loss of the failed aircraft, and ensure the timely power inspection;

[0038] (2) The application fixes the inspection aircraft on the power line during the detection process of the inspection aircraft through the self-adaptive clamping component, avoids the direct falling of the inspection aircraft to the ground during the detection process, causes the damage of the shell and internal circuit of the inspection aircraft, and is convenient for timely recovery of the inspection aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0040] Figure 1 A structural block diagram of a power line inspection system provided by the embodiment of the application;

[0041] Figure 2 A front structure schematic diagram of the inspection aircraft in the embodiment of the application;

[0042] Figure 3 A side structure schematic diagram of the inspection aircraft in the embodiment of the application;

[0043] Figure 4 A front structure schematic diagram of the self-adaptive clamping component in the embodiment of the application;

[0044] Figure 5 An internal structure schematic diagram of the front of the self-adaptive clamping component in the embodiment of the application;

[0045] Figure 6 A side structure schematic diagram of the self-adaptive clamping component in the embodiment of the application.

[0046] The numbers in the drawings respectively represent the following:

[0047] 1-Inspection aircraft; 2-Self-adaptive clamping component; 3-Power line; 4-Detection element;

[0048] 11 - aircraft body; 12 - propeller structure; 13 - landing support; 14 - propeller cabin; 15 - transverse drive;

[0049] 21 - positioning seat; 22 - connecting seat; 23 - limiting groove; 24 - sliding plate; 25 - fixing seat; 26 - connecting rod; 27 - rotating shaft; 28 - first driving motor; 29 - mounting groove; 210 - positioning arc plate; 211 - connecting shaft; 212 - transmission gear; 213 - gear lifting plate; 214 - lifting cylinder; 215 - arc groove; 216 - abutting arc plate; 217 - spring. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0051] As Figure 1 shown, the present application provides a power line inspection system and a communication method, wherein the system has an inspection aircraft 1, an adaptive clamping component 2, an aircraft self-checking module, a fault aircraft positioning module and an inspection distribution control terminal.

[0052] The inspection aircraft 1 is provided in plurality, and the inspection aircraft 1 is used for inspecting the power line in the power line distribution area according to the power inspection route. The number of the inspection aircraft 1 can be determined according to the number of the power detection points. If one inspection aircraft 1 only detects one power detection point, then the number of the inspection aircraft 1 is slightly more than the number of the power detection points. One inspection aircraft 1 corresponds to one power detection point, and the remaining inspection aircraft 1 is used as backup. In the case that other inspection aircraft 1 cannot be assembled when the inspection aircraft 1 fails, the backup aircraft can be directly assembled.

[0053] The adaptive clamping component 2 is arranged on the inspection aircraft 1, and the adaptive clamping component 2 is used for adjusting the angle according to the inclination angle of the power line 3, so as to temporarily fix the inspection aircraft 1 on the power line 3 for power line detection.

[0054] The aircraft self-checking module is electrically connected with the inspection aircraft 1. The aircraft self-checking module is used for real-time monitoring the running state of the inspection aircraft 1, real-time sending the self-checking report, checking the sending situation of the self-checking report and analyzing the self-checking report, so as to analyze the working state of the inspection aircraft 1.

[0055] The fault aircraft positioning module is in communication connection with the aircraft self-checking module, and is used for analyzing a fault occurrence position and a fault occurrence state of the inspection aircraft 1, and screening and assembling at least one inspection aircraft 1 in a power line distribution area according to the fault occurrence state of the inspection aircraft 1 to perform positioning of the fault aircraft and detection of a power line that is not detected by the corresponding fault aircraft.

[0056] The inspection distribution control terminal is in communication connection with the inspection aircraft 1, the aircraft self-checking module and the fault aircraft positioning module, and is used for distributing a power inspection route corresponding to the inspection aircraft 1 according to a power detection point, receiving and storing data of the inspection aircraft 1, and updating the circuit inspection route distributed to the corresponding inspection aircraft 1 according to the fault occurrence state of the inspection aircraft 1.

[0057] In the embodiment of the application, the running state of the inspection aircraft 1 is monitored in real time and a self-checking report is sent in real time, the fault occurrence position and the fault occurrence state of the inspection aircraft 1 are analyzed in real time in the case that the self-checking report is analyzed to appear a fault or the self-checking report is not received, at least one inspection aircraft 1 in a power line distribution area is assembled to perform positioning of the fault aircraft and detection of a power line 3 that is not detected by the corresponding fault aircraft, when the inspection aircraft 1 fails, the aircraft for power inspection is replaced in time and the fault aircraft is analyzed in time, the loss of the fault aircraft is avoided, the power inspection is ensured to be carried out as scheduled, in addition, the inspection aircraft 1 is fixed on the power line 3 in the detection process of the inspection aircraft 1 through the self-adaptive clamping component 2, the inspection aircraft 1 directly falls to the ground in the detection process to cause damage of the shell and the internal circuit of the inspection aircraft 1 is avoided, and the inspection aircraft 1 is also convenient to find back in time.

[0058] The application performs power line inspection through the inspection aircraft 1, Figure 2 and Figure 3 As shown in the drawings, the inspection aircraft 1 comprises an aircraft body 11, a propeller structure 12 arranged at a side of the aircraft body 11, and a landing support 13 arranged at a bottom of the aircraft body 11; the bottom of the aircraft body 11 is provided with a propeller cabin 14, and the propeller cabin 14 is provided with a transverse driver 15.

[0059] The propeller structure 12 and the transverse driver 15 both drive the flight, and the directions of the actions are different, one drives the aircraft body 11 to ascend and descend, and the other drives the aircraft body 11 to make transverse displacement.

[0060] In the application, the aircraft body 11 is fixed on the power line 3 through the self-adaptive clamping component 22, and the self-adaptive clamping component 2 of the application adopts the following preferred embodiments, such as Figure 4 , Figure 5 andFigure 6 As shown in the figure, the adaptive clamping component 2 comprises a positioning seat 21 arranged on the aircraft body 11, a connecting seat 22 arranged at the bottom of the positioning seat 21, a limiting groove 23 arranged at the bottom of the positioning seat 21, and a sliding plate 24 slidingly arranged in the limiting groove 23; the aircraft body 1 is fixedly provided with a fixed seat 25, the connecting seat 22 is rotatably connected to the fixed seat 25 through a connecting rod 26, the bottom of the sliding plate 24 is rotatably provided with a rotating shaft 27, and the end of the rotating shaft 27 is connected with a first driving motor 28.

[0061] The above structure can drive the positioning seat 21 to rotate, so as to adjust itself according to the inclination angle of the power line 3, ensure that the aircraft body 11 remains horizontal, and enable the power line 3 to be fixed. In the initial state, the horizontal state of the positioning seat 21, the first driving motor 28 drives the rotating shaft 27 to rotate, thereby driving the sliding plate 24 to slide in the limiting groove 23, and under the pushing action of the sliding plate 24, one end of the positioning seat 21 gradually moves up, and the other end rotates around the connecting rod 26, so that the positioning seat 21 is angle-adjusted.

[0062] In order to fix the power line 3, the present application is further designed as follows, Figure 5 As shown in the figure, the positioning seat 21 is provided with a mounting groove 29, a positioning arc plate 210 is rotatably arranged in the mounting groove 29, the bottom of the positioning arc plate 210 is rotatably connected to the mounting groove 29 through a connecting shaft 211, a transmission gear 212 is coaxially arranged on the connecting shaft 211, a gear lifting plate 213 is arranged on the side of the transmission gear 212, and a lifting cylinder 214 is connected to the bottom of the gear lifting plate 213; a plurality of arc grooves 215 are equidistantly arranged on the inner wall of the positioning arc plate 210, and an abutting arc plate 216 is connected to the inside of the arc groove 215 through a spring 217.

[0063] When the aircraft body 11 flies directly below the power line 3, the lifting cylinder 214 is driven to drive the gear lifting plate 213 to move downward, thereby driving the transmission gear 212 to rotate inward, driving the positioning arc plate 210 to rotate inward through the connecting shaft 211, and gradually fixing the power line 3 above the aircraft body 11. At this time, the abutting arc plate 216 is in contact with the outer wall of the power line 3, and the spring 217 is extruded.

[0064] In order to detect the power line 3, a detection element 4 for detecting the power line 3 is arranged on the inner wall of the abutting arc plate 216; a detection circuit and a communication unit are arranged in the inspection aircraft 1, the detection element is connected to the communication unit through the detection circuit, and the communication unit is used for transmitting detection data to the inspection distribution control terminal, and receiving a power inspection route and a control instruction.

[0065] The application analyzes the working state of the inspection aircraft 1 by monitoring the operation state of the inspection aircraft 1 in real time, sending a self-checking report in real time, checking the sending situation of the self-checking report, and analyzing the self-checking report by the aircraft self-checking module.

[0066] The monitoring element is arranged in the inspection aircraft 1, and the monitoring element is electrically connected with the propeller structure 12, the transverse driver 15, the lifting cylinder 214, and the detection circuit. The monitoring element is used for monitoring the working current and voltage of the propeller structure 12, the transverse driver 15, the lifting cylinder 214, and the detection circuit. The data sending unit is in communication connection with the monitoring element. The data sending unit is used for making an aircraft working state analysis table according to the working current and voltage data, and sending the aircraft working state analysis table to the data verification unit for comparison and verification. The positioning unit is used for acquiring the position of the inspection aircraft in real time.

[0067] In the above embodiment, the monitoring element is used for monitoring the working current and voltage of the propeller structure 12, the transverse driver 15, the lifting cylinder 214, and the detection circuit, so as to detect whether the propeller structure 12, the transverse driver 15, the lifting cylinder 214, and the detection circuit work normally.

[0068] The aircraft working state analysis table contains the working current and voltage of the propeller structure 12, the transverse driver 15, the lifting cylinder 214, and the detection circuit. The aircraft working state analysis table is equivalent to a comprehensive table of overall detection data, and is sent to the data verification unit for comparison and verification.

[0069] The data verification unit compares and verifies according to the aircraft working state analysis table, so as to analyze the fault structure of the inspection aircraft. According to the situation that the data verification unit cannot receive the aircraft working state analysis table, it is determined that the inspection aircraft is in a data interruption state.

[0070] The data verification unit stores threshold values of the working current and voltage of the propeller structure 12, the transverse driver 15, the lifting cylinder 214, and the detection circuit. The detected data is compared with the data threshold values. When it is detected that the data is not in the data threshold value interval, it is proved that the structure corresponding to the data has a problem. For example, the working current of the propeller structure 12 is abnormal, which means that the propeller structure 12 cannot work normally. The working current of the transverse driver 15 is abnormal, which means that the transverse driver 15 cannot work normally. The working current of the lifting cylinder 214 is abnormal, which means that the fixing structure of the power line 3 cannot work normally. The detection current is abnormal, which means that the transmission and detection of the detection data may not be performed normally.

[0071] In addition, when the data checking unit does not receive the aircraft operation state analysis table sent by the data sending unit, it indicates that the inspection aircraft is in a data interruption state, and new inspection aircraft 1 needs to be allocated to find the fault aircraft for the above-mentioned fault conditions, and another new inspection aircraft 1 needs to be allocated to perform inspection on the fault aircraft which has not been detected in the future.

[0072] The inspection allocation control terminal allocates the power inspection route corresponding to the inspection aircraft 1 according to the power detection point, receives and stores the data of the inspection aircraft 1, and updates the circuit inspection route allocated to the corresponding inspection aircraft 1 according to the fault occurrence state of the inspection aircraft 1. In the present application, the inspection allocation control terminal adopts the following preferred embodiment, which comprises a detection input terminal, a route allocation unit, a data storage library and a control unit.

[0073] The detection input terminal is used to input the power detection point, the route allocation unit is used to allocate the corresponding power inspection route to the inspection aircraft according to the power detection point, and the data storage library is used to store the detection data of the inspection aircraft 1 and the monitoring data of the detection element and the positioning unit.

[0074] In the above-mentioned embodiment, the route allocation unit mainly calculates the inspection time of a plurality of candidate paths according to the power detection point, and selects the optimal power inspection route according to the length of the inspection time.

[0075] The present application analyzes the fault occurrence place and the fault occurrence state of the inspection aircraft 1 through the fault aircraft positioning module, and selects and adjusts at least one inspection aircraft 1 in the power line distribution area according to the fault occurrence state of the inspection aircraft 1 to position the fault aircraft and detect the power line which has not been detected by the corresponding fault aircraft. The fault aircraft positioning module comprises a data analysis unit, a data extraction unit and a screening unit.

[0076] The data analysis unit is in communication connection with the data checking unit, and is used to extract the real-time information of the positioning unit and analyze the fault occurrence place and the fault occurrence state of the inspection aircraft 1 according to the checking result of the data checking unit. The data extraction unit extracts the data of the data storage library according to the fault signal and transmits it to the screening unit.

[0077] The data analysis unit can directly obtain the fault occurrence structure or communication disconnection according to the verification structure of the data verification unit, and the position of the inspection aircraft 1 can be obtained by extracting the positioning data of the corresponding positioning unit. In the embodiment of the application, if the positioning unit works normally, the position of the fault aircraft can be monitored in real time, and the fault aircraft can be found back. If the positioning unit cannot work normally, the positioning position of the fault aircraft before the signal loss needs to be extracted to find back the fault aircraft. The fault aircraft may also follow the original route for inspection in the case of communication problems, and the fault aircraft can be found back at the power detection point.

[0078] The screening unit screens one inspection aircraft 1 closest to the fault aircraft for positioning of the fault aircraft according to the inspected state of the inspection aircraft 1, and screens two inspection aircrafts 1 closest to the fault aircraft for positioning of the fault aircraft and detection of the power line not detected by the corresponding fault aircraft according to the un-inspected state of the inspection aircraft 1.

[0079] In the above embodiment, if the inspection aircraft 1 has detected the power detection point, the screening unit only needs to screen one inspection aircraft 1 closest to the fault aircraft to find back the fault aircraft. If the fault aircraft has not detected the power detection point, the screening unit needs to screen two inspection aircrafts 1 closest to the fault aircraft to find back the fault aircraft and detect the power detection point.

[0080] In the application process of the embodiment, the closest inspection aircraft 1 may be in the detection process or on the way to detection. In addition to using distance as a standard for screening the inspection aircraft 1, the time required for the current position of the inspection aircraft 1 in the current area to reach the position of the fault aircraft or the position of the corresponding power detection point of the fault aircraft after completing its own detection task can also be calculated, and the inspection aircraft 1 with the shortest time is screened according to the length of the time.

[0081] The route allocation unit updates the circuit inspection route allocated to the corresponding inspection aircraft 1 according to the screening result based on the fault occurrence state of the inspection aircraft, and the control unit sends a stop flying signal to the inspection aircraft 1 according to the fault occurrence state of the inspection aircraft.

[0082] After the screening inspection aircraft 1 completes detection, a new circuit inspection route is allocated to the inspection aircraft 1, so that the inspection aircraft 1 flies to the fault aircraft and the power detection point of the fault aircraft which is not detected, in order to avoid that the fault aircraft is out of communication after failure and cannot understand the action track of the fault aircraft, the inspection aircraft 1 sends a stop flying signal when the inspection aircraft 1 fails, in the case that the fault aircraft can receive the signal, the fault aircraft stops flying, in the case that the fault aircraft cannot receive the signal, the fault aircraft can be found back according to the original route, in the case that the fault aircraft fails to walk according to the original route and cannot receive the signal, the fault aircraft is extremely likely to be lost, therefore, the inspection aircraft 1 sends a stop flying signal when the inspection aircraft 1 fails, which further reduces the loss of the fault aircraft.

[0083] The application provides a communication method of a power line inspection system, comprising the following steps,

[0084] Step 100, power detection points are input, and a power inspection route is allocated to the inspection aircraft 1 according to the power detection points;

[0085] Step 200, the inspection aircraft 1 flies to the power detection points according to the allocated power inspection route, and is fixed on the power line 3, and returns to the original route after detection is completed;

[0086] Step 300, operation data of the inspection aircraft 1 are monitored in real time, and are uploaded and verified and analyzed to obtain the working state of the inspection aircraft 1;

[0087] Step 400, based on the abnormal working state of the inspection aircraft 1, relevant positioning data and detection data are extracted to analyze the fault occurrence position and the fault occurrence state of the inspection aircraft 1, and the fault aircraft is urgently braked;

[0088] Step 500, at least one inspection aircraft 1 in a power line distribution area is screened and gathered;

[0089] Step 600, based on the screening result, a circuit inspection route allocated to the corresponding inspection aircraft 1 is updated, so that the positioning of the fault aircraft and the detection of the power line which is not detected by the corresponding fault aircraft are completed.

[0090] In summary, the specific implementation process of the application is as follows:

[0091] I. The inspection process of the inspection aircraft 1 is as follows:

[0092] The inspection aircraft 1 flies according to the specified route: the detection input end inputs the power detection points, and the route allocation unit allocates corresponding power inspection routes to the inspection aircraft according to the power detection points;

[0093] The aircraft body 11 is fixed as a whole: the aircraft body 11 flies directly below the power line 3, the first driving motor 28 drives the rotating shaft 27 to rotate, so that the positioning seat 21 is adjusted in angle, the positioning seat 21 is adjusted to be parallel to the power line 3, the aircraft body 11 flies directly above the positioning seat 21, the driving lifting cylinder 214 drives the gear lifting plate 213 to move downward, so as to drive the positioning arc plate 210 to rotate inward, so as to gradually fix the power line 3 above the aircraft body 11, at this time, the inspection aircraft 1 stops flying, and the aircraft body 11 as a whole can be fixed on the power line 3.

[0094] Detection: the detection element detects and transmits the detection data to the inspection distribution control terminal.

[0095] Unfixed and returned: after the detection is completed, the driving lifting cylinder 214 is reset to release the fixation of the power line 3, then the first driving motor 28 is driven to reset the positioning seat 21, and then the route is returned according to the original route.

[0096] II. The fault handling process of the inspection aircraft is:

[0097] Real-time monitoring of the inspection aircraft 1: the monitoring element monitors whether the propeller structure 12, the transverse driver 15, the lifting cylinder 214 and the detection circuit work normally, and generates an aircraft working state analysis table according to the working current and voltage data, and sends it to the data verification unit;

[0098] Verify the running state of the inspection aircraft 1: the data verification unit compares and verifies according to the aircraft working state analysis table, determines the fault structure of the inspection aircraft through comparison and verification of abnormal data, and determines that the inspection aircraft is in a data interruption state according to the situation that the data verification unit cannot receive the aircraft working state analysis table;

[0099] Finding back the fault aircraft and detecting the power detection point: the control unit immediately sends a stop flying signal to the inspection aircraft 1 according to the fault state of the inspection aircraft, and the screening unit screens out a closest inspection aircraft 1 to find back the fault aircraft in the case that the inspection aircraft 1 has detected the power detection point;

[0100] In the case that the fault aircraft has not detected the power detection point, the screening unit screens out two closest inspection aircrafts 1 to find back the fault aircraft and detect the power detection point respectively;

[0101] The route distribution unit updates the new circuit inspection route distributed to the corresponding inspection aircraft 1 according to the screening result.

[0102] The above examples are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements are also considered to fall within the protection scope of the present application.

Claims

1. A power line inspection system, characterized by, The utility model relates to a kind of power line inspection system, including: Patrol inspection aircraft (1) is arranged as multiple, the patrol inspection aircraft (1) is used to inspect power line in power line distribution area according to power patrol inspection route; Self-adaptive clamping component (2) includes positioning seat (21) arranged on the patrol inspection aircraft (1), connecting seat (22) arranged at the bottom of the positioning seat (21), limiting groove (23) arranged at the bottom of the positioning seat (21) and sliding plate (24) slidingly arranged in the limiting groove (23);Fixed seat (25) is fixedly installed on aircraft body (1), the connecting seat (22) is rotatably connected on the fixed seat (25) by connecting rod (26), the bottom of the sliding plate (24) is rotatably provided with rotating shaft rod (27), and the end of the rotating shaft rod (27) is connected with first driving motor (28); The self-adaptive clamping component (2) is used to adjust the angle according to the inclination angle of power line (3), to temporarily fix the patrol inspection aircraft (1) on power line (3) for power line detection; Aircraft self-checking module, in electrical connection with the patrol inspection aircraft (1), the aircraft self-checking module is used for real-time monitoring, real-time sending self-checking report and checking self-checking report sending situation and analyzing self-checking report to analyze the working state of the patrol inspection aircraft (1); Fault aircraft positioning module, in communication connection with the aircraft self-checking module, the fault aircraft positioning module is used for analyzing the fault occurrence place and the fault occurrence state of the patrol inspection aircraft (1), and at least one the patrol inspection aircraft (1) in power line distribution area is screened and gathered according to the fault occurrence state of the patrol inspection aircraft (1) to position fault aircraft and detect the power line that corresponding fault aircraft has not completed detection; Patrol inspection distribution control terminal, in communication connection with the patrol inspection aircraft (1), the aircraft self-checking module and the fault aircraft positioning module, the patrol inspection distribution control terminal is used for distributing the corresponding power patrol inspection route to the patrol inspection aircraft (1) according to power detection point, receiving and storing the data of the patrol inspection aircraft (1), and updating the circuit patrol inspection route distributed to the corresponding patrol inspection aircraft (1) according to patrol inspection aircraft (1) fault occurrence state.

2. The power line inspection system of claim 1, wherein The patrol inspection aircraft (1) includes aircraft body (11), propeller structure (12) arranged on the side of the aircraft body (11), landing support (13) arranged at the bottom of the aircraft body (11); The bottom of the aircraft body (11) is provided with propeller cabin (14), and the propeller cabin (14) is provided with transverse drive (15).

3. The power line inspection system of claim 2, wherein, The positioning seat (21) is provided with a mounting groove (29), a positioning arc plate (210) is rotatably arranged in the mounting groove (29), the bottom of the positioning arc plate (210) is rotatably connected to the mounting groove (29) through a connecting shaft (211), a transmission gear (212) is coaxially arranged on the connecting shaft (211), a gear lifting plate (213) is arranged on the side of the transmission gear (212), and the bottom of the gear lifting plate (213) is connected to a lifting cylinder (214). A plurality of arc grooves (215) are equidistantly arranged on the inner wall of the positioning arc plate (210), and an abutting arc plate (216) is connected to the inside of the arc groove (215) through a spring (217).

4. The power line inspection system of claim 3, wherein The inner wall of the abutting arc plate (216) is provided with a detection element (4) for detecting a power line (3); The inside of the inspection aircraft (1) is provided with a detection circuit and a communication unit, the detection element is connected to the communication unit through the detection circuit, the communication unit is used for transmitting detection data to the inspection distribution control terminal, and receiving a power inspection route and a control instruction.

5. The power line inspection system of claim 4, wherein, The aircraft self-checking module comprises a monitoring element, a data sending unit, a data verification unit and a positioning unit; The monitoring element is arranged in the inspection aircraft (1), the monitoring element is electrically connected with the propeller structure (12), the transverse driver (15), the lifting cylinder (214) and the detection circuit, the monitoring element is used for monitoring the working current and voltage of the propeller structure (12), the transverse driver (15), the lifting cylinder (214) and the detection circuit, the data sending unit is in communication connection with the monitoring element, the data sending unit is used for making an aircraft working state analysis table according to the working current and voltage data, and sending to the data verification unit for comparison and verification, and the positioning unit is used for real-time acquisition of the position of the inspection aircraft.

6. The power line inspection system of claim 5, wherein, The data verification unit compares and verifies according to the aircraft working state analysis table to analyze the fault structure of the inspection aircraft, and determines that the inspection aircraft is in a data interruption state according to the condition that the data verification unit does not receive the aircraft working state analysis table.

7. The power line inspection system of claim 6, wherein, The inspection distribution control terminal comprises a detection input terminal, a route distribution unit, a data storage library and a control unit; The detection input terminal is used for inputting power detection points, the route distribution unit is used for distributing corresponding power inspection routes to the inspection aircraft according to the power detection points, and the data storage library is used for storing detection data of the inspection aircraft (1) and monitoring data of the detection element and the positioning unit.

8. The power line inspection system of claim 7, wherein, The fault aircraft positioning module comprises a data analysis unit, a data extraction unit and a screening unit; The data analysis unit is in communication connection with the data verification unit, the data analysis unit is used for extracting real-time information of the positioning unit and analyzing the fault occurrence position and fault occurrence state of the inspection aircraft (1) according to the verification result of the data verification unit, the data extraction unit extracts data of the data storage library according to the fault signal and transmits to the screening unit. The screening unit screens one closest inspection aircraft (1) according to the inspected state of the inspection aircraft (1) to locate the fault aircraft, and screens two closest inspection aircraft (1) according to the un-inspected state of the inspection aircraft (1) to locate the fault aircraft and detect the power line which is not detected by the corresponding fault aircraft; The route allocation unit updates the circuit inspection route allocated to the corresponding inspection aircraft (1) according to the screening result based on the fault occurrence state of the inspection aircraft, and the control unit sends a stop flying signal to the inspection aircraft (1) according to the fault occurrence state of the inspection aircraft.

9. A communication method of the power line inspection system according to any one of claims 1 to 8, characterized by, The method comprises the following steps, Step 100, inputting a power detection point, and allocating a power inspection route to the inspection aircraft according to the power detection point; Step 200, the inspection aircraft flies to the power detection point according to the allocated power inspection route, and is fixed on the power line after detection, and returns to the original route after detection is completed; Step 300, real-time monitoring of the operation data of the inspection aircraft, uploading and verification analysis are performed to obtain the working state of the inspection aircraft; Step 400, based on the abnormal working state of the inspection aircraft, relevant positioning data and detection data are extracted to analyze the fault occurrence location and fault occurrence state of the inspection aircraft, and the fault aircraft is urgently braked; Step 500, screening and gathering at least one inspection aircraft in the power line distribution area; Step 600, updating the circuit inspection route allocated to the corresponding inspection aircraft based on the screening result to complete the positioning of the fault aircraft and the detection of the power line which is not detected by the corresponding fault aircraft.

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