A type of tower repeater nest

Abstract

This invention discloses a pole-mounted relay drone nest. To overcome the shortcomings of existing drone docking and charging platforms or drone kiosks, which lack management of drones and make it difficult to ensure drone safety during operation, this invention includes a main nest body; a hatch located on one side of the main nest body; a landing platform for taking off and landing drones, which retracts into or extends out of the main nest body via a telescopic structure; an environmental monitoring component for monitoring environmental data including temperature, humidity, rainfall, and wind speed; and a control center for planning drone inspection routes and managing drone take-off and landing status based on environmental data and drone battery level data. The inspection route is planned within the nest radius based on battery level; in cases of inclement weather unsuitable for inspection, the drone is retracted into the nest, ensuring the safety of drone operation and avoiding losses caused by weather.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicles, in particular to a pole tower relay machine nest. BACKGROUND

[0002] In grassland or mountainous areas, the inspection workload of power lines is huge, which requires a large amount of manpower and financial resources; in recent years, with the development of wireless communication technology, aerial remote sensing surveying and mapping technology, GPS navigation positioning technology and automatic control technology, the aerial remote sensing surveying and mapping technology of unmanned aerial vehicles can better complete the task of power inspection and construction planning, and can also reduce economic losses to a certain extent.

[0003] However, the power of the unmanned aerial vehicle is limited, which shortens the working time and range, and the unmanned aerial vehicle may also encounter bad weather during work, which affects the work of the unmanned aerial vehicle and even damages the unmanned aerial vehicle; therefore, the unmanned aerial vehicle needs to be parked on a charging platform or an unmanned aerial vehicle pavilion airport to ensure the endurance and safety of the unmanned aerial vehicle. However, the traditional fully autonomous unmanned aerial vehicle inspection scheme has a large volume and heavy weight, high power consumption, and is restricted by factors such as site, power supply and communication, and it is difficult to achieve full-scene and large-scale deployment to support the real high-frequency, full-range, efficient and high-quality inspection of the power network.

[0004] Although there are some designs of unmanned aerial vehicle parking and charging platforms and unmanned aerial vehicle pavilion airports at present, they are too simple and cannot comprehensively and intelligently manage the unmanned aerial vehicles. For example, a "unmanned aerial vehicle charging system based on a power transmission tower" disclosed in Chinese patent document CN108638893A includes a power supply device, a monitoring device, a charging device, a human-computer interaction device and a control device. The power supply device includes a first power supply unit, a second power supply unit and a power supply switching unit. When the monitoring device detects that the unmanned aerial vehicle is within the charging range of the unmanned aerial vehicle charging system, it sends a signal to the control device, which sends a signal to the human-computer interaction device. Then, after the user sends an instruction, the control device controls the power supply switching unit to select the first power supply unit or the second power supply unit to supply power to the charging device. This scheme can solve the problem of insufficient endurance of the unmanned aerial vehicle, but the function is too simple and lacks management of the unmanned aerial vehicle, which makes it difficult to ensure the safety of the unmanned aerial vehicle during operation. SUMMARY

[0005] The present application mainly solves the problem that the existing unmanned aerial vehicle parking and charging platform or unmanned aerial vehicle pavilion lacks management of the unmanned aerial vehicle, which makes it difficult to ensure the safety of the unmanned aerial vehicle during operation; a pole tower relay machine nest is provided, which plans the unmanned aerial vehicle inspection route and manages the start and stop state of the unmanned aerial vehicle according to environmental data and unmanned aerial vehicle power data, ensures the safety of the unmanned aerial vehicle during operation, and avoids losses caused by weather.

[0006] The unmanned aerial vehicle inspection route is planned and the unmanned aerial vehicle start-stop state is managed according to the environment data and the unmanned aerial vehicle power data, the safety of the unmanned aerial vehicle operation process is ensured, and the loss caused by weather is avoided.

[0007] The inclination direction and inclination degree of the nest are judged by the camera to acquire the coordinate position change of the light source projection on the coordinate base plate, an alarm is sent, the reliability of the nest installation is ensured, and the safety of the unmanned aerial vehicle is ensured.

[0008] The above technical problems of the present application are mainly solved by the following technical scheme:

[0009] A tower relay nest, comprising a nest main body, further comprising

[0010] A hatch is arranged on one side of the nest main body.

[0011] A take-off and landing platform is used to start and stop the unmanned aerial vehicle, and is retracted into the nest main body or extended out of the nest main body through the telescopic structure; an environment monitoring assembly is used to monitor environment data including temperature, humidity, rainfall and wind force.

[0012] A control center is wirelessly connected with the unmanned aerial vehicle; the unmanned aerial vehicle inspection route is planned and the unmanned aerial vehicle start-stop state is managed according to the environment data and the unmanned aerial vehicle power data.

[0013] The hatch uses a side opening mode, and the take-off and landing platform is pushed out from the side.

[0014] The unmanned aerial vehicle inspection route is planned and the unmanned aerial vehicle start-stop state is managed according to the environment data and the unmanned aerial vehicle power data, the unmanned aerial vehicle inspection route is planned within the radius of the nest according to the power; in the case that the weather is bad and is not suitable for inspection, the unmanned aerial vehicle is put into the nest, the safety of the unmanned aerial vehicle operation process is ensured, and the loss caused by weather is avoided.

[0015] Preferably, a positioning mark is arranged at the center position of the take-off and landing platform. The positioning mark is used for positioning the landing of the unmanned aerial vehicle, and determining the landing position and parking direction.

[0016] Preferably, a charging track is arranged on the take-off and landing platform, the charging track extends from one side of the take-off and landing platform to the center position; a charging contact matched with a quick charging interface arranged at the foot rack position of the unmanned aerial vehicle is slidably arranged on the charging track. The quick charging interface arranged at the foot rack position of the unmanned aerial vehicle and the charging management module realize the quick contact type charging.

[0017] Preferably, a fixing track is symmetrically arranged on the take-off and landing platform, the fixing track extends from one side of the take-off and landing platform to the center position, and the fixing track is perpendicular to the charging track; a fixing rod matched with the width of the foot rack of the unmanned aerial vehicle is slidably arranged on the fixing track. The fixing rod cooperates with the charging structure to fix the position of the unmanned aerial vehicle on the take-off and landing platform.

[0018] As preferred, the nest tilt detection assembly is further included;

[0019] The nest tilt detection assembly comprises:

[0020] A coordinate base plate is fixedly arranged on the tower and parallel to one side of the nest body;

[0021] A light source is fixedly arranged on the nest body and forms a projection on the coordinate base plate;

[0022] A camera acquires the coordinate position of the projection of the light source on the coordinate base plate and sends the coordinate position information to the control center; the control center calculates the offset of the projection and judges the tilt direction and degree of the nest.

[0023] The camera judges the tilt direction and degree of the nest by acquiring the coordinate position change of the projection of the light source on the coordinate base plate, sends an alarm, ensures the reliability of the nest installation, and ensures the safety of the unmanned aerial vehicle.

[0024] As preferred, the coordinate base is a plurality of concentric circles, which intuitively display the coordinate projection.

[0025] As preferred, the light source forms at least three different line projections on the coordinate base plate. The three different line projections form a plane, and the tilt direction and degree of the nest are determined according to the displacement and distortion degree of the plane.

[0026] As preferred, the light source flashes at a set frequency; the flashing frequency changes according to environmental data;

[0027] The flashing frequency f of the light source L is:

[0028]

[0029] Wherein, f L0 is the normal flashing frequency;

[0030] f L1 is the emergency flashing frequency;

[0031] f d is the set unit change frequency;

[0032] L s is the environmental factor weighting value;

[0033]

[0034] Wherein, L sn is the nth environmental factor weighting value;

[0035] N is the total number of environmental factors;

[0036] When the detected environmental data is within the set threshold range, the corresponding environmental factor weight is 0; otherwise, the corresponding environmental factor weight is 1.

[0037] As preferred, when the flickering frequency of the light source is greater than the sampling frequency of the camera, the sampling frequency of the camera follows the flickering frequency of the light source. When the weather environment is severe, the sampling frequency of the camera is increased to avoid missing important data.

[0038] As preferred, the nest also includes a solar panel connected to the internal power supply of the nest.

[0039] The system is powered by photovoltaic panels, and network access is achieved using 4G / 5G. Through relay power supply and communication, the field self-sustaining ability is improved, and finally the automatic inspection of the whole line without radius limitation is realized. Overcome the constraints of installation by site, power supply, communication and other factors.

[0040] The beneficial effects of the present application are:

[0041] 1. According to the environmental data and the power data of the unmanned aerial vehicle, the unmanned aerial vehicle inspection route is planned and the unmanned aerial vehicle start-stop state is managed, the safety of the unmanned aerial vehicle operation process is ensured, and the loss caused by weather is avoided.

[0042] 2. The camera determines the tilt direction and tilt degree of the nest by obtaining the coordinate position change of the light source projected on the coordinate base plate, sends an alarm, ensures the reliability of the nest installation, and ensures the safety of the unmanned aerial vehicle.

[0043] 3. The system is powered by photovoltaic panels, and network access is achieved using 4G / 5G. Through relay power supply and communication, the field self-sustaining ability is improved, and finally the automatic inspection of the whole line without radius limitation is realized. Overcome the constraints of installation by site, power supply, communication and other factors. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a top view of the tower relay nest of the present application.

[0045] Figure 2 It is a side view of the unmanned aerial vehicle landing on the landing platform of the tower relay nest.

[0046] In the figure, 1 is the nest main body, 2 is the hatch, 3 is the landing platform, 4 is the charging rail, 5 is the charging contact, 6 is the fixed rail, 7 is the fixed rod, and 8 is the unmanned aerial vehicle. DETAILED DESCRIPTION

[0047] The technical solutions of the present application will be further specifically described below through examples and in combination with the drawings.

[0048] Example 1:

[0049] A tower relay nest of the embodiment, as shown in Figure 1 and Figure 2 It includes a nest body 1, a hatch 2 and a landing platform 3.

[0050] The nest body 1 is deployed on the pole by a clamp and a support structure.

[0051] The hatch 2 is opened on one side of the nest body 1. The hatch 2 uses a side opening mode, and the landing platform 3 is pushed out from the side.

[0052] The landing platform 3 is used to start and stop the unmanned aerial vehicle, and is retracted into the nest body or extended out of the nest body through a telescopic structure. The telescopic structure includes telescopic struts, telescopic rails and conveyors, etc. In this embodiment, as shown in Figure 2 The telescopic structure used is a telescopic rail, and the bottom of the landing platform 3 is provided with a slider adapted to the rail, so that the entire landing platform 3 is translated by sliding on the slide rail.

[0053] The nest body 1 is also provided with an environmental monitoring assembly and a control center.

[0054] The monitoring assembly includes temperature and humidity sensors, anemometers, etc., and the monitoring assembly monitors environmental data including temperature, humidity, rainfall and wind force, etc.

[0055] The control center is wirelessly connected with the unmanned aerial vehicle 8. The control center plans the unmanned aerial vehicle inspection route and manages the unmanned aerial vehicle start and stop state according to the environmental data and the unmanned aerial vehicle power data.

[0056] A positioning mark is provided at the center position of the landing platform 3. The positioning mark is used for the landing positioning of the unmanned aerial vehicle 8, and determines the landing position and parking direction. It is ensured that the unmanned aerial vehicle 8 can be successfully charged and fixed when it falls on the landing platform 3.

[0057] A charging rail 4 is provided on the landing platform 3, which extends from one side of the landing platform 3 to the center position. A charging contact 5 adapted to the quick charging interface of the foot rack position of the unmanned aerial vehicle 8 is slidably provided on the charging rail 4.

[0058] The quick charging interface and the charging management module provided at the foot rack position of the unmanned aerial vehicle 8 realize the quick contact type charging. When the unmanned aerial vehicle 8 falls on the landing platform 3, the charging contacts 5 on both sides receive the command of the control center, and move close to the quick charging interface provided at the foot rack position of the unmanned aerial vehicle 8 to realize the contact type charging.

[0059] The quick charging interface and the charging management module provided at the foot rack position of the unmanned aerial vehicle 8 realize the quick contact type charging. It is used to realize the quick rotation operation. The quick charging mode only needs 30 minutes to charge the power from 20% to 90%.

[0060] The fixed track 6 is symmetrically arranged on the landing platform 3 and extends from one side of the landing platform 3 to the center position, and the fixed track 6 is perpendicular to the charging track 4. The fixed rod 7 with a width suitable for the foot stand of the unmanned aerial vehicle is slidably arranged on the fixed track 6.

[0061] When the unmanned aerial vehicle 8 lands on the landing platform 3, the charging rods 7 on both sides receive the command of the control center and are configured to approach the foot stand position of the unmanned aerial vehicle 8 until they are in contact with the foot stand of the unmanned aerial vehicle 8 and are clamped to fix the foot stand of the unmanned aerial vehicle 8. The fixed rod 7 cooperates with the charging structure to fix the position of the unmanned aerial vehicle 8 on the landing platform.

[0062] The nest also includes a solar panel connected to the internal power supply of the nest.

[0063] The system is powered by photovoltaic panels, and network access is achieved using 4G / 5G. Through relay power supply and communication, the field self-sustaining ability is improved, and finally the automatic inspection of the entire line without radius limitation is realized. Overcome the constraints of installation by site, power supply, communication and other factors.

[0064] The control center plans the unmanned aerial vehicle inspection route and manages the start and stop state of the unmanned aerial vehicle according to the environmental data and the power data of the unmanned aerial vehicle 8.

[0065] According to the power of the unmanned aerial vehicle 8, the inspection route of the unmanned aerial vehicle is planned within the radius range of the nest; in the case of bad weather not suitable for inspection, the unmanned aerial vehicle 8 is put into the nest to ensure the safety of the unmanned aerial vehicle operation process and avoid losses caused by weather.

[0066] Embodiment two:

[0067] The tower relay nest of the embodiment also includes a nest tilt detection assembly for monitoring whether the nest is installed on the tower in a tilted manner, especially in harsh weather conditions such as strong winds, heavy rains, heavy snow or hail, which can easily affect the installation of the nest.

[0068] When the nest is tilted, it will affect the safety of the unmanned aerial vehicle and easily cause a falling hazard, so it is necessary to timely inform the relevant staff for maintenance.

[0069] The nest tilt detection assembly includes a coordinate base plate, a light source and a camera.

[0070] The coordinate base plate is fixedly arranged on the tower and parallel to one side of the nest main body 1.

[0071] In this embodiment, the coordinate base is a plurality of concentric circles, which can intuitively display the projected coordinates.

[0072] The light source is fixedly arranged on the nest main body 1 to form a projection on the coordinate base plate. The light source can be a colored light source or a laser light source mounted on the side of the nest main body 1, or a light source mounted in the nest main body 1. When the light source is mounted in the nest main body 1, a small hole is formed on the side of the nest main body 1 facing the tower, and the light source projects an image onto the coordinate base plate through the small hole.

[0073] In this embodiment, the light source forms at least three different line projections on the coordinate base plate. The three different line projections form a plane, and the inclination direction and inclination degree of the nest are determined according to the displacement and distortion degree of the plane.

[0074] The camera is used to obtain the coordinate position of the light source projection on the coordinate base plate and send the projection coordinate position information to the control center.

[0075] The control center calculates the offset of the projection to determine the inclination direction and inclination degree of the nest.

[0076] The camera determines the inclination direction and inclination degree of the nest by obtaining the coordinate position change of the light source projection on the coordinate base plate, sends an alarm, ensures the reliability of the nest installation, and ensures the safety of the unmanned aerial vehicle.

[0077] The light source flashes at a set frequency; the flashing frequency changes according to environmental data.

[0078] The flashing frequency f of the light source is: L

[0079]

[0080] Where f is the normal flashing frequency; L0

[0081] f is the emergency flashing frequency; L1

[0082] f is the set unit change frequency; d

[0083] L is the environmental factor weighting value. s

[0084]

[0085] Where L is the nth environmental factor weight value; sn

[0086] N is the total number of environmental factors;

[0087] When the detected environmental data is within the set threshold range, the corresponding environmental factor weight value is 0; otherwise, the corresponding environmental factor weight value is 1.

[0088] ​​​​​​When the strobe frequency of the light source is greater than the sampling frequency of the camera, the sampling frequency of the camera follows the strobe frequency of the light source.

[0089] The strobed light source can both indicate the location of the nest as a signal and provide a light source for the tilt detection of the nest body 1.

[0090] The frequency of the strobed light source changes according to the environmental data, which can indicate the harm of environmental factors to the tilt of the nest. When the environmental data is bad, the sampling frequency of the camera is increased to avoid missing important data and ensure timely feedback.

[0091] It should be understood that the embodiments are only used for illustrating the present application but not for limiting the scope of the present application. Furthermore, it should be understood that those skilled in the art can make various modifications or changes to the present application after reading the content taught by the present application, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

Claims

1. A pole tower repeater enclosure comprising an enclosure body, characterized by, Also include The cabin door is opened in one side of the nest main body; The landing platform is used for starting and stopping the unmanned aerial vehicle, and is retracted into the nest main body or extended out of the nest main body from the cabin door through the telescopic structure; The environmental monitoring assembly monitors environmental data including temperature, humidity, rainfall and wind force; The control center is wirelessly connected with the unmanned aerial vehicle; the unmanned aerial vehicle inspection route is planned according to the environmental data and the unmanned aerial vehicle power data, and the unmanned aerial vehicle starting and stopping state is managed; The nest tilt detection assembly includes a coordinate base plate, a light source and a camera, the light source forms at least three different line projections on the coordinate base plate, the three different line projections form a plane, and the tilt direction and the tilt degree of the nest are determined according to the displacement and the distortion degree of the plane; The light source is a light source installed inside the nest main body, a small hole is opened on the side of the nest main body facing the tower, and the light source is imaged and projected onto the coordinate base plate through the small hole; The camera determines the tilt direction and the tilt degree of the nest by acquiring the coordinate position change of the light source projection on the coordinate base plate, and sends an alarm.

2. A tower repeater cavity as claimed in claim 1, wherein, The center of the landing platform is provided with a positioning mark.

3. A tower repeater cavity as claimed in claim 1 or 2, characterised in that, The landing platform is provided with a charging track extending from one side of the landing platform to the center; the charging track is provided with a charging contact matched with the quick charging interface of the unmanned aerial vehicle foot support.

4. A tower repeater cavity as claimed in claim 3, wherein, The landing platform is provided with a fixed track symmetrically, the fixed track extends from one side of the landing platform to the center, and the fixed track is perpendicular to the charging track; the fixed track is provided with a fixed rod matched with the width of the unmanned aerial vehicle foot support.

5. A tower repeater cavity as claimed in claim 1, wherein, The nest tilt detection assembly further includes a coordinate base plate, a light source and a camera; The nest tilt detection assembly includes: The coordinate base plate is fixedly arranged on the tower and parallel to the side surface of the nest main body; The light source is fixedly arranged on the nest main body and forms a projection on the coordinate base plate; The camera acquires the projection coordinate position of the light source on the coordinate base plate and sends the projection coordinate position information to the control center; The control center calculates the offset of the projection and determines the tilt direction and the tilt degree of the nest.

6. A tower repeater cavity as claimed in claim 5, wherein, The coordinate base plate is a plurality of concentric circles.

7. A tower repeater cavity as claimed in claim 5 or 6, characterised in that, The light source forms at least three different line projections on the coordinate base plate.

8. A tower repeater cavity as claimed in claim 7, characterized in that The light source flashes at a set frequency; The frequency of the light source is changed according to the environmental data; The flicker frequency f of the light source is: L is: wherein f L0 is the normal flicker frequency; f L1 f is the emergency flash frequency; f d is the set unit change frequency; L s Weighted value for environmental factors; wherein L sn is the nth environmental factor weight; N is the total number of environmental factors; When the detected environmental data is within a set threshold range, the corresponding environmental factor weight is 0; otherwise, the corresponding environmental factor weight is 1.

9. A tower repeater cavity as claimed in claim 8, wherein, When the flashing frequency of the light source is greater than the sampling frequency of the camera, the sampling frequency of the camera follows the flashing frequency of the light source; the stroboscopic light source can not only indicate the position of the nest as a signal in severe weather environment, but also provide light source for the tilt detection of the nest main body.

10. A tower repeater cavity as claimed in claim 1, wherein, The nest further includes a solar panel connected with the internal power supply of the nest.

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